Omron SCARA YRC Series User Manual page 42

2. Communication with master module
CAUTION
• ALWAYs REFER TO THE PLC MANUAL AND CHECk THE sETTINGs FOR
COMMUNICATION WITH THE MAsTER MODULE.
NOTE
The IO size can be set by option board parameter. Refer to section 6 of chapter 2 for more details.
Chapter
3
When reading the bit information from the master module output channel No. with the robot controller,
write the following command in the robot program in the same manner as the DI input port.
WAIT command
Assignment statement
Example:
Example:
NOTE
The sI statement in the robot language can be defined from sI0 ( ) to sI27 ( ), but the DeviceNet
compatible module accepts from sI0 ( ) to sI15 ( ).
When reading the word information from the master module's output channel No. with the robot
controller, write the following command in the robot program.
Assignment statement
Example:
3-4
To wait for (n+17CH)0 to turn ON when the IO size is set to "Large"
WAIT sI (20) = 1 .................... *The robot program will wait for sI (20) to turn
To read the (n+17CH)0 to (n+17CH)7 data into variable A when the IO size is set
to "Large"
A = sI2 () ............................... *The sI2 () data will be converted into a decimal
To read the (n+2CH) word data into variable B when the IO size is set to "Large"
B = sIW (2) ............................ *The sIW (2) data will be assigned to variable
ON.
and assigned to variable A. If sI2 () is 7Fh,
variable A will be 127.
B as a decimal. If sIW (2) is 01FFh, variable B
will be 511.