Communication With Master Module; Receiving Data - Omron SCARA YRC Series User Manual

2. Communication with master module

The method for communicating with the master module by using the robot program when the
DeviceNet system is correctly connected is explained in this section.
2.1

Receiving data

The master module's output channel data is read via the serial input ports of the robot controller.
The table below shows the correspondence of the master module's output channels and the robot
controller's serial input ports. The correspondence of the master module's output channels and
the robot controller's serial input ports differs depending on whether the IO size is set to "Large"
or "small" by option board parameter.
● When IO size is set to "Large"
Master module
output channel No.
(nCH)
(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)
n : Output-area head CH number assigned to master module
● When IO size is set to "Small"
Master module
output channel No.
(nCH).07 to 00
(nCH).15 to 08
(n+1CH).07 to 00
(n+1CH).15 to 08
n : Output-area head CH number assigned to master module
Robot controller
serial input 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)
Robot controller
serial input port No.
sI0(7 to 0)
sI1(7 to 0)
sI2(7 to 0)
sI3(7 to 0)

2. Communication with master module

Master module
output channel No.
(n+16CH).07 to 00 sI0(7 to 0)
(n+16CH).15 to 08 sI1(7 to 0)
(n+17CH).07 to 00 sI2(7 to 0)
(n+17CH).15 to 08 sI3(7 to 0)
(n+18CH).07 to 00 sI4(7 to 0)
(n+18CH).15 to 08 sI5(7 to 0)
(n+19CH).07 to 00 sI6(7 to 0)
(n+19CH).15 to 08 sI7(7 to 0)
(n+20CH).07 to 00 sI10(7 to 0)
(n+20CH).15 to 08 sI11(7 to 0)
(n+21CH).07 to 00 sI12(7 to 0)
(n+21CH).15 to 08 sI13(7 to 0)
(n+22CH).07 to 00 sI14(7 to 0)
(n+22CH).15 to 08 sI15(7 to 0)
Robot controller
serial input port No.
3-3
Chapter
3