Support Of Robot I/O Signals And Link Devices - Mitsubishi Electric CR800 Series Ethernet Function Instruction Manual

3 Description of functions

3.6.5. Support of robot I/O signals and link devices

The support of robot I/O signals and link devices for RX/RY and RWr/RWw are indicated here.
As shown below, the link relays RX/RY and link registers RWr/RWw of a master station's link device interacts with the I/O
signals (6000 to max. 6255) and I/O registers (6000 to max. 6127) of each robot. Even if the station number changes, the
I/O signals of the robot are the same. Also, the number of stations occupied by a robot can be set from 1 to 4, designated
by the setting for number of stations occupied by master stations.
Number of
stations Input
occupied Output
by robot
Input
1
Output
Input
2
Output
Input
3
Output
Input
4
Output
(*1) Remote input, RX: Information input from slave to master through bitwise operations.
Remote output, RY: Information output from master to slave through bitwise operations.
(*2) Remote register, RWr: Information input from slave to master through 16-bit (1 word) operations.
Remote register, RWw: Information output from master to slave through 16-bit (1 word) operations.
3-84
Bitwise device
Link relay
Points
RX/RY (*1)
RY0 to
64
RY3F
RX0 to
64
RX3F
RY0 to
128
RY7F
RX0 to
128
RX7F
RY0 to
192
RYBF
RX0 to
192
RXBF
RY0 to
256
RYFF
RX0 to
256
RXFF
I/O signal
Points
Start End
6000 6063 32
6000 6063 32
6000 6127 64
6000 6127 64
6000 6191 96
6000 6191 96
6000 6255 128
6000 6255 128
1 word device
I/O register
Link register
RWr/RWw (*2)
Start
RWw0 to
6000
RWw1F
RWw0 to
6000
RWw1F
RWw0 to
6000
RWw3F
RWw0 to
6000
RWw3F
RWw0 to
6000
RWw5F
RWw0 to
6000
RWw5F
RWw0 to
6000
RWw7F
RWw0 to
6000
RWw7F
End
6031
6031
6063
6063
6095
6095
6127
6127