Communication With Master Station Plc; Receiving Data - Yamaha RCX Series User Manual

3. Communication with master station PLC

3. Communication with master station PLC

The method for communicating with the master station PLC by using the robot program
when the CC-Link system is correctly connected is explained in this section.
3.1

Receiving data

Data is received by reading the master station PLC output device data with the robot
Chapter
controller's input port. The correspondence of the master station PLC's output device
3
numbers and robot controller's input port numbers is shown below.
Master station
output device No.
RYn7~RYn0
RYnF~RYn8
RY(n+1)7~RY(n+1)0
RY(n+1)F~RY(n+1)8
RY(n+2)7~RY(n+2)0
RY(n+2)F~RY(n+2)8
RY(n+3)7~RY(n+3)0
RY(n+3)F~RY(n+3)8
RY(n+4)7~RY(n+4)0
RY(n+4)F~RY(n+4)8
RY(n+5)7~RY(n+5)0
RY(n+5)F~RY(n+5)8
RY(n+6)7~RY(n+6)0
RY(n+6)F~RY(n+6)8
c
CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports. The robot controller
handles these ports as input ports of meaningful data, so do not use them as
general-purpose input ports.
Set these ports to "0" in most cases.
3-4
Robot controller
input port No.
SI(07)~SI(00) RWwn
SI(17)~SI(10) RWw(n+1)
SI(27)~SI(20) RWw(n+2)
SI(37)~SI(30) RWw(n+3)
SI(47)~SI(40) RWw(n+4)
SI(57)~SI(50) RWw(n+5)
SI(67)~SI(60) RWw(n+6)
SI(77)~SI(70) RWw(n+7)
SI(107)~SI(100) RWw(n+8)
SI(117)~SI(110) RWw(n+9)
SI(127)~SI(120) RWw(n+10)
SI(137)~SI(130) RWw(n+11)
SI(147)~SI(140) RWw(n+12)
SI(157)~SI(150) RWw(n+13)
RWw(n+14)
RWw(n+15)
n: Address assigned to master module with station No. setting
Master station
output device No.
SID(2)
SID(4)
SID(6)
SID(8)
SID(10)
SID(12)
SID(14)
Robot controller
input port No.
SIW(0)
SIW(1)
SIW(2)
SIW(3)
SIW(4)
SIW(5)
SIW(6)
SIW(7)
SIW(8)
SIW(9)
SIW(10)
SIW(11)
SIW(12)
SIW(13)
SIW(14)
SIW(15)