Profibus - IAI RoboNet Operation Manual

(3) PROFIBUS

Example of Overall PROFIBUS 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
byte*
0
2
4
6
8
10
12
14
16 (Axis 0) Position data specification (L)
18 (Axis 0) Position data specification (H)
20 (Axis 0) Command position number
22
24 (Axis 1) Position data specification (L)
26 (Axis 1) Position data specification (H)
28 (Axis 1) Command position number
30
31 (Axis 2) Position data specification (L)
34 (Axis 2) Position data specification (H)
36 (Axis 2) Command position number
38
40 (Axis 3) Position data specification (L)
42 (Axis 3) Position data specification (H)
44 (Axis 3) Command position number
46
78
110
112 (Axis 12) Position data specification (L)
114 (Axis 12) Position data specification (H)
116 (Axis 12) Positioning band specification (L)
118 (Axis 12) Positioning band specification (H)
120
122 (Axis 12) Acceleration/deceleration specification
124 (Axis 12) Push-current limiting value
126
128 (Axis 13) Position data specification (L)
130 (Axis 13) Position data specification (H)
132 (Axis 13) Positioning band specification (L)
134 (Axis 13) Positioning band specification (H)
136
138 (Axis 13) Acceleration/deceleration specification
140 (Axis 13) Push-current limiting value
142
* The relative byte indicates the relative byte address from the beginning of the gateway.
38
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