Devicenet - IAI RoboNet Operation Manual

(2) DeviceNet

Example of Overall DeviceNet Address Configuration
(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.
PLC output ⇒ ROBONET
Relative
Upper byte
channel*
0
1
2
3
4
5
6
7
8 (Axis 0) Position data specification (L)
9 (Axis 0) Position data specification (H)
10 (Axis 0) Command position number
11
12 (Axis 1) Position data specification (L)
13 (Axis 1) Position data specification (H)
14 (Axis 1) Command position number
15
16 (Axis 2) Position data specification (L)
17 (Axis 2) Position data specification (H)
18 (Axis 2) Command position number
19
20 (Axis 3) Position data specification (L)
21 (Axis 3) Position data specification (H)
22 (Axis 3) Command position number
23
39
55
56 (Axis 12) Position data specification (L)
57 (Axis 12) Position data specification (H)
58 (Axis 12) Positioning band specification (L)
59 (Axis 12) Positioning band specification (H)
60
61 (Axis 12) Acceleration/deceleration specification
62 (Axis 12) Push-current limiting value
63
64 (Axis 13) Position data specification (L)
65 (Axis 13) Position data specification (H)
66 (Axis 13) Positioning band specification (L)
67 (Axis 13) Positioning band specification (H)
68
69 (Axis 13) Acceleration/deceleration specification
70 (Axis 13) Push-current limiting value
71
* The relative channel indicates the relative channel number from the first gateway channel.
36
Lower byte
Gateway control signal 0
Gateway control signal 1
Request command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Control signal
(Axis 1) Control signal
(Axis 2) Control signal
(Axis 3) Control signal
(Axis 7) Control signal
(Axis 11) Control signal
(Axis 12) Speed specification
(Axis12) Control signal
(Axis 13) Speed specification
(Axis13) Control signal
Part 1 Specification
ROBONET⇒ PLC input
Upper byte
Gateway status signal 0
Gateway status signal 1
Response command
Data 0
Data 1
Data 2
Data 3
(Cannot be used)
(Axis 0) Current position data (L)
(Axis 0) Current position data (H)
(Axis 0) Completed position number
(Axis 0) Status signal
(Axis 1) Current position data (L)
(Axis 1) Current position data (H)
(Axis 1) Completed position number
(Axis 1) Status signal
(Axis 2) Current position data (L)
(Axis 2) Current position data (H)
(Axis 2) Completed position number
(Axis 2) Status signal
(Axis 3) Current position data (L)
(Axis 3) Current position data (H)
(Axis 3) Completed position number
(Axis 3) Status signal
(Axis 7) Status signal
(Axis 11) Status signal
(Axis 12) Current position data (L)
(Axis 12) Current position data (H)
(Axis 12) Current electrical current (L)
(Axis 12) Current electrical current (H)
(Axis 12) Current speed data
(Cannot be used)
(Axis 12) Alarm code
(Axis 12) Status signal
(Axis 13) Current position data (L)
(Axis 13) Current position data (H)
(Axis 13) Current electrical current (L)
(Axis 13) Current electrical current (H)
(Axis 13) Current speed data
(Cannot be used)
(Axis 13) Alarm code
(Axis 13) Status signal
Lower byte
8-word
fixed area
4 words
Positioner/
simple direct
mode
4 words
4 words
4 words
4 words
8 words
Direct
numerical
specification
mode
8 words