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Example:
To read the (n+2CH) and (n+3CH) double word data into variable C when the IO
size is set to "Large"
C = sID (2) ............................ *The sIW (2) and sIW (3) data will be assigned
NOTE
The word data written with sOW (n) has the uncoded little endian format.
The double word data written with sOD (n) has the coded little endian format.
2.2
Transmitting data
The serial output port data of the robot controller is transmitted to the master module's input
channel. The table below shows the correspondence of the robot controller's serial output ports
and the master module's input channels. The correspondence of the robot controller's serial
output ports and the master module's input channels 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
input channel No.
(mCH)
(m+1CH)
(m+2CH)
(m+3CH)
(m+4CH)
(m+5CH)
(m+6CH)
(m+7CH)
(m+8CH)
(m+9CH)
(m+10CH)
(m+11CH)
(m+12CH)
(m+13CH)
(m+14CH)
(m+15CH)
m : Input-area head CH number assigned to master module
Robot controller
serial output port No.
sOW(0)
sOW(1)
sOW(2)
sOD(2)
sOW(3)
sOW(4)
sOD(4)
sOW(5)
sOW(6)
sOD(6)
sOW(7)
sOW(8)
sOD(8)
sOW(9)
sOW(10)
sOD(10)
sOW(11)
sOW(12)
sOD(12)
sOW(13)
sOW(14)
sOD(14)
sOW(15)
2. Communication with master module
to variable C as a decimal. If sIW (2) is 0010h
and sIW (3) is 0001h, variable C will be 65552.
Master module
input channel No.
(m+16CH).07 to 00
(m+16CH).15 to 08
(m+17CH).07 to 00
(m+17CH).15 to 08
(m+18CH).07 to 00
(m+18CH).15 to 08
(m+19CH).07 to 00
(m+19CH).15 to 08
(m+20CH).07 to 00
(m+20CH).15 to 08
(m+21CH).07 to 00
(m+21CH).15 to 08
(m+22CH).07 to 00
(m+22CH).15 to 08
Robot controller
serial output port No.
sO0(7 to 0)
sO1(7 to 0)
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)
3-5
Chapter
3
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