Table of Contents
Advertisement
● Using Input 2CH / Output 2CH
Serial output
(Robot controller → Master module)
Robot controller
Port No.
sO0(7 to 0)
*1
*1
sO1(7 to 0)
sO2(7 to 0)
sO3(7 to 0)
Note)
*1: These are used as a dedicated I/O and so cannot be used as general-purpose I/O data.
NOTE
• Each channel consists of 16-bit data.
• sOn() and sIn() are handled as unsigned 8-bit integer data.
• sOW(n) and sIW(n) are handled as unsigned 16-bit integer data.
• sOD(n) and sID(n) are handled as signed 32-bit integer data.
• The upper and lower words of sOD(n) respectively correspond to sOW(n+1) and sOW(n).
• The upper and lower words of sID(n) respectively correspond to sIW(n+1) and sIW(n).
• The dedicated input of sTD.DIO connector provided on the YRC controllers will be disabled
except for an interlock signal (DI 11). When the Board condition (external 24v monitor control)
of system parameters is set invalid, the interlock signal (DI 11) will also be disabled.
4. Assignment of DeviceNet compatible I/O
Master module
Channel No.
7 to 0
sI0(7 to 0)
(mCH)
15 to 8
sI1(7 to 0)
7 to 0
sI2(7 to 0)
(m+1CH)
15 to 8
sI3(7 to 0)
m : Input-area head CH number assigned to master module
n : Output-area head CH number assigned to master module
Serial input
(Master module → Robot controller)
Robot controller
Port No.
*1
(nCH)
*1
(n+1CH)
Chapter
Master module
Channel No.
7 to 0
15 to 8
7 to 0
15 to 8
1-5
1
Advertisement
Table of Contents
