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2. Mechanism
2. Mechanism
The mechanism of communication is explained in this section to provide an understanding of
Chapter
1
how the robot controller and master module operate via the DeviceNet system.
1- The robot controller's ON/OFF information is sent to the master module via the network
(DeviceNet system cable).
2- The master module's ON/OFF information is sent to the robot controller via the network
(DeviceNet system cable).
* The robot controller monitors the ON/OFF information at a 10ms cycle.
* The ON/OFF information consists of two words each of dedicated I/O words, 14
words each of general-purpose I/O words as word information, and 16 points
each of dedicated I/O points, 96 points each of general-purpose I/O points as bit
information. However, when the number of channels that the DeviceNet compatible
module occupies is set to "Small" (2CH each of I/O) by option board parameter, bit
information consists 16 points each of dedicated I/O points and 16 points each of
general-purpose I/O points, so that word information cannot be handled.
NOTE
The number of channels that the DeviceNet compatible module occupies can be set to either
"Large" (24CH each of I/O) or "small" (2CH each of I/O) by option board parameter.
If the following is executed with the robot program in the robot controller, the bit information
will be sent to the master module via the DeviceNet system by 1.
sO (20)=1
Conversely, if the following is executed with the robot program, the bit information received
from the master module via the DeviceNet system will be monitored by 2, and the robot
controller will wait for the ON information.
WAIT sI (20)=1
If the following is executed with the robot program in the robot controller, the word
information will be sent to the master module via the DeviceNet system by 1.
sOW (2)= 256
Conversely, if the following is executed with the robot program, the word information
received from the master module via the DeviceNet system will be substituted in integer
variable A% by 2.
A% = sIW (3)
1-2
Master module
ON/OFF information
q
w
Robot controller
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