IAI RoboNet Operation Manual page 61

Example of Overall RS485 SIO (Modbus Gateway Mode) Address Configuration (Positioner 2 mode and Solenoid valve
mode))
An example of connecting 16 axes operating in the positioner 2 mode, Solenoid valve mode 1 or 2 is shown.
PLC output ⇒ ROBONET
Register
Upper byte
address
F600* Gateway control signal 0
F601 Gateway control signal 1
F602
F603
F604
F605
F606
F607
F608 (Axis 0) Command position number
F609
F60A (Axis 1) Command position number
F60B
F60C (Axis 2) Command position number
F60D
F60E (Axis 3) Command position number
F60F
F610 (Axis 4) Command position number
F611
F612 (Axis 5) Command position number
F613
F614 (Axis 6) Command position number
F615
F616 (Axis 7) Command position number
F617
F618 (Axis 8) Command position number
F619
F61A (Axis 9) Command position number
F61B
F61C (Axis 10) Command position number
F61D (Axis 10) Control signal
F61E (Axis 11) Command position number
F61F (Axis 11) Control signal
F620 (Axis 12) Command position number
F621 (Axis 12) Control signal
F622 (Axis 13) Command position number
F623 (Axis 13) Control signal
F624 (Axis 14) Command position number
F625 (Axis 14) Control signal
F626 (Axis 15) Command position number
F627 (Axis 15) Control signal
* With the RS485 SIO type, the initial address is F600H (PLC ⇒ ROBONET) or F700H (ROBONET ⇒ PLC).
Lower byte
Request command
Data 0
Data 1
Data 2
Data 3
(Reserved)
(Axis 0) Control signal
(Axis 1) Control signal
(Axis 2) Control signal
(Axis 3) Control signal
(Axis 4) Control signal
(Axis 5) Control signal
(Axis 6) Control signal
(Axis 7) Control signal
(Axis 8) Control signal
(Axis 9) Control signal
ROBONET⇒ PLC input
Relative
Upper byte
byte
0 Gateway status signal 0
2 Gateway status signal 1
4 Response command
6
8
10
12
14
16 (Axis 0) Completed position number
18 (Axis 0) Status signal
20 (Axis 1) Completed position number
22 (Axis 1) Status signal
24 (Axis 2) Completed position number
26 (Axis 2) Status signal
28 (Axis 3) Completed position number
30 (Axis 3) Status signal
32 (Axis 4) Completed position number
34 (Axis 4) Status signal
36 (Axis 5) Completed position number
38 (Axis 5) Status signal
40 (Axis 6) Completed position number
42 (Axis 6) Status signal
44 (Axis 7) Completed position number
46 (Axis 7) Status signal
48 (Axis 8) Completed position number
50 (Axis 8) Status signal
52 (Axis 9) Completed position number
54 (Axis 9) Status signal
56 (Axis 10) Completed position number
58 (Axis 10) Status signal
60 (Axis 11) Completed position number
62 (Axis 11) Status signal
64 (Axis 12) Completed position number
66 (Axis 12) Status signal
68 (Axis 13) Completed position number
70 (Axis 13) Status signal
72 (Axis 14) Completed position number
74 (Axis 14) Status signal
76 (Axis 15) Completed position number
78 (Axis 15) Status signal
Part 1 Specification
Lower byte
Data 0
Data 1
Data 2
Data 3
(Reserved)
Register
address
F700*
F701
F702
F703
F704
F705
F706
F707
F708
F709
F70A
F70B
F70C
F70D
F70E
F70F
F710
F711
F712
F713
F714
F715
F716
F717
F718
F719
F71A
F71B
F71C
F71D
F71E
F71F
F720
F721
F722
F723
F724
F725
F726
F727
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