Mechanism - Yamaha RCX Series User Manual

2. Mechanism

2. Mechanism

Chapter
The mechanism of communication is explained in this section to provide an understanding
1
of how the robot controller and PLC operate via the CC-Link system.
Master station
q The robot controller's ON/OFF information is sent to the master station PLC via the
network (CC-Link system cable).
w The master station PLC's ON/OFF information is sent to the robot controller via the
network (CC-Link system cable).
* The robot controller monitors the ON/OFF information at a 10ms cycle.
* The ON/OFF information consists of 16 points each of dedicated I/O points, 96
points each of general-purpose I/O points as bit information, and two words each
of dedicated I/O words, 14 words each of general-purpose I/O words as word
information.
If the following is executed with the robot program in the robot controller, the bit
information will be sent to the master station PLC via the CC-Link system by q.
SO (20) = 1
Conversely, if the following is executed with the robot program, the bit information
received from the master station PLC via the CC-Link system will be monitored by w,
and will wait for the ON information.
WAIT SI (20) = 1
If the following is executed with the robot program in the robot controller, the word
information will be sent to the master station PLC via the CC-Link system by q.
SOW (2) = 256
Conversely, if the following is executed with the robot program, the word information
received from the master station PLC via the CC-Link system will be substituted in
integer variable A% by w.
A% = SIW (3)
1-2
ON/OFF information
PLC
Robot controller