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4. Assignment of DeviceNet compatible I/O
4. Assignment of DeviceNet compatible I/O
The table below shows the correspondence of the robot controller's serial I/O to the I/O data
Chapter
1
(channel) on the DeviceNet. The number of channels assigned to the DeviceNet compatible
module can be set to either 24 channels each or 2 channels each of I/O by robot controller
parameter.
● Using Input 24CH / Output 24CH
(Robot controller → Master module)
Robot controller
Port No.
sOD(2)
sOD(4)
sOD(6)
sOD(8)
sOD(10)
sOD(12)
sOD(14)
*2
sO0(7 to 0)
sO1(7 to 0)
*2
sO2(7 to 0)
sO3(7 to 0)
sO4(7 to 0)
sO5(7 to 0)
sO6(7 to 0)
sO7(7 to 0)
sO10(7 to 0)
sO11(7 to 0)
sO12(7 to 0)
sO13(7 to 0)
sO14(7 to 0)
sO15(7 to 0)
*3
Reserved
Note)
*1: These are used as a dedicated command and so cannot be used as general-purpose I/O data.
*2: These are used as a dedicated I/O and so cannot be used as general-purpose I/O data.
*3: Reserved area.
1-4
Serial output
Master module
Channel No.
sOW(0)
*1
(mCH)
*1
sOW(1)
(m+1CH)
sOW(2)
(m+2CH)
sOW(3)
(m+3CH)
sOW(4)
(m+4CH)
sOW(5)
(m+5CH)
sOW(6)
(m+6CH)
sOW(7)
(m+7CH)
sOW(8)
(m+8CH)
sOW(9)
(m+9CH)
sOW(10)
(m+10CH)
sOW(11)
(m+11CH)
sOW(12)
(m+12CH)
sOW(13)
(m+13CH)
sOW(14)
(m+14CH)
sOW(15)
(m+15CH)
(m+16CH)
(m+17CH)
(m+18CH)
(m+19CH)
(m+20CH)
(m+21CH)
(m+22CH)
(m+23CH)
(Master module → Robot controller)
Robot controller
Port No.
sIW(0)
sIW(1)
sIW(2)
sID(2)
sIW(3)
sIW(4)
sID(4)
sIW(5)
sIW(6)
sID(6)
sIW(7)
sIW(8)
sID(8)
sIW(9)
sIW(10)
sID(10)
sIW(11)
sIW(12)
sID(12)
sIW(13)
sIW(14)
sID(14)
sIW(15)
*2
7 to 0
sI0(7 to 0)
15 to 8
sI1(7 to 0)
*2
7 to 0
sI2(7 to 0)
15 to 8
sI3(7 to 0)
7 to 0
sI4(7 to 0)
15 to 8
sI5(7 to 0)
7 to 0
sI6(7 to 0)
15 to 8
sI7(7 to 0)
7 to 0
sI10(7 to 0)
15 to 8
sI11(7 to 0)
7 to 0
sI12(7 to 0)
15 to 8
sI13(7 to 0)
7 to 0
sI14(7 to 0)
15 to 8
sI15(7 to 0)
*3
15 to 0
Reserved
m : Input-area head CH number assigned to master module
n : Output-area head CH number assigned to master module
Serial input
Master module
Channel No.
*1
(nCH)
*1
(n+1CH)
(n+2CH)
(n+3CH)
(n+4CH)
(n+5CH)
(n+6CH)
(n+7CH)
(n+8CH)
(n+9CH)
(n+10CH)
(n+11CH)
(n+12CH)
(n+13CH)
(n+14CH)
(n+15CH)
7 to 0
(n+16CH)
15 to 8
7 to 0
(n+17CH)
15 to 8
7 to 0
(n+18CH)
15 to 8
7 to 0
(n+19CH)
15 to 8
7 to 0
(n+20CH)
15 to 8
7 to 0
(n+21CH)
15 to 8
7 to 0
(n+22CH)
15 to 8
(n+23CH)
15 to 0
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