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4. Sample program
[PLC data assignment]
In this example, the first unit MAC ID is designated as "1" and the second unit MAC ID as "25".
The PLC output channel is allocated "3200" while the input channel is allocated "3300".
(1510CH)
(1512CH)
MAC ID1
(3201CH)
Chapter
(3202CH)
5
(3216CH)
(3217CH)
(3218CH)
(3223CH)
(3224CH)
5-18
0
Unit error
:
15
:
0
:
15
IO data communication status
:
0
:
1st unit's sIW(0)
15
0
:
1st unit's sIW(1)
15
:
0
:
1st unit's sIW(15)
15
0
1st unit's sI(00) : Emergency stop input
1
1st unit's sI(01) : servo ON input
2
1st unit's sI(02) : service mode input
3
1st unit's sI(03) :
4
1st unit's sI(04) :
5
1st unit's sI(05) : IO command execution trigger input
6
1st unit's sI(06) :
7
1st unit's sI(07) :
8
1st unit's sI(10) : sequence control input
9
1st unit's sI(11) : Interlock input
10
1st unit's sI(12) : Robot program start input
11
1st unit's sI(13) : AUTO mode input
12
1st unit's sI(14) :
13
1st unit's sI(15) : Program reset input
14
1st unit's sI(16) : MANUAL mode input
15
1st unit's sI(17) : Absolute reset input
0
1st unit's sI(20) : General-purpose input
1
1st unit's sI(21) : General-purpose input
2
1st unit's sI(22) : General-purpose input
3
1st unit's sI(23) : General-purpose input
4
1st unit's sI(24) : General-purpose input
5
1st unit's sI(25) : General-purpose input
6
1st unit's sI(26) : General-purpose input
7
1st unit's sI(27) : General-purpose input
8
1st unit's sI(30) : General-purpose input
9
1st unit's sI(31) : General-purpose input
10
1st unit's sI(32) : General-purpose input
11
1st unit's sI(33) : General-purpose input
12
1st unit's sI(34) : General-purpose input
13
1st unit's sI(35) : General-purpose input
14
1st unit's sI(36) : General-purpose input
15
1st unit's sI(37) : General-purpose input
:
0
1st unit's sI(140) : General-purpose input
1
1st unit's sI(141) : General-purpose input
2
1st unit's sI(142) : General-purpose input
3
1st unit's sI(143) : General-purpose input
4
1st unit's sI(144) : General-purpose input
5
1st unit's sI(145) : General-purpose input
6
1st unit's sI(146) : General-purpose input
7
1st unit's sI(147) : General-purpose input
8
1st unit's sI(150) : General-purpose input
9
1st unit's sI(151) : General-purpose input
10
1st unit's sI(152) : General-purpose input
11
1st unit's sI(153) : General-purpose input
12
1st unit's sI(154) : General-purpose input
13
1st unit's sI(155) : General-purpose input
14
1st unit's sI(156) : General-purpose input
15
1st unit's sI(157) : General-purpose input
0
:
1st unit reservation area
15
: Word
information
: Bit
information
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