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(6) Set the refresh parameters.
Set as follows:
1) Import the 128-point output signals 6000 to 6127 of the robot into the bit devices M0 to M127 of
PLC.
2) Import the bit devices M2000 to M2127 of PLC into the input signals 6000 to 6127 of the robot.
3) Import the output registers 6000 to 6063 of the robot into the word devices D0 to D63 of PLC.
4) Import the word devices D200 to D263 of PLC into the input registers 6000 to 6063 of the robot.
Specifically, set the refresh parameters on the PLC side as follows.
·
Transfer 1
: Link Side (Dev. Name RX/Points 128/Start 0000/End 007F)
·
Transfer 2
: Link Side (Dev. Name RY/Points 128/Start 0000/End 007F)
·
Transfer 3
: Link Side (Dev. Name RWr/Points 64/Start 0000/End 003F)
·
Transfer 4
: Link Side (Dev. Name RWw/Points 64/Start 0000/End 003F)
PLC Side (Dev. Name M/Points 128/Start 0/End 127)
PLC Side (Dev. Name M/Points 128/Start 2000/End 2127)
PLC Side (Dev. Name D/Points 64/Start 0/End 63)
PLC Side (Dev. Name D/Points 64/Start 200/End 263)
8 Procedures for Starting Operation
Setting the Parameters 8-29
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