Transmitting Data - Yamaha CC-Link RCX Series Owner's Manual

3. Communication with master station PLC
c
3
CAUTION
SIW(0) and SIW(1) are viewed as
dedicated input ports.
n
NOTE
The SO statement in the robot language
can be defined from SO2 ( ) to SO27 ( ),
but the CC-Link compatible module
accepts from SO2 ( ) to SO15 ( ).
n
NOTE
Word data written with SOW(n) is a little
endian format with no sign.
Double word data written with SOD(n)
is a little endian format with a sign.
4
3-
3.2

Transmitting data

Data is transmitted by writing the robot controller output port data into the master station
PLC's input device.
The correspondence of the master station PLC's input device numbers and robot controller's
output port numbers is shown below.
Master station Robot controller
input device No. output port No.
RXn7~RXn0 SO(07)~SO(00)
RXnF~RXn8 SO(17)~SO(10)
RX(n+1)7~RX(n+1)0 SO(27)~SO(20)
RX(n+1)F~RX(n+1)8 SO(37)~SO(30)
RX(n+2)7~RX(n+2)0 SO(47)~SO(40)
RX(n+2)F~RX(n+2)8 SO(57)~SO(50)
RX(n+3)7~RX(n+3)0 SO(67)~SO(60)
RX(n+3)F~RX(n+3)8 SO(77)~SO(70)
RX(n+4)7~RX(n+4)0 SO(107)~SO(100)
RX(n+4)F~RX(n+4)8 SO(117)~SO(110)
RX(n+5)7~RX(n+5)0 SO(127)~SO(120)
RX(n+5)F~RX(n+5)8 SO(137)~SO(130)
RX(n+6)7~RX(n+6)0 SO(147)~SO(140)
RX(n+6)F~RX(n+6)8 SO(157)~SO(150)
To write the robot controller's bit information into the master station PLC's input device
No., write the following commands in the robot program in the same manner as the DO
output port:
SET/RESET command
Assignment statement
OUT command
Example
: To turn RX(n+1)0 ON
SET SO(20) or SO(20) =1 .... * SO(20) will turn ON.
Example : To write variable A data into RX(n+1)0 to RX(n+1)7
SO2() = A ............................. * The variable A data will be converted into
When writing the robot controller's word information into the master station PLC's input
device No., write the following command in the robot program.
Assignment statement
Example
: To write 512 into RWr (n+2) as word data
SOW (2) = 512 ..................... * 512 is substituted in SOW (2), and SOW
Example : To write 69905 as the double word data for RWr (n+2) and RWr (n+3)
SOD (2) = 69905 .................. * 69905 is substituted in SOD (2), SOW (2)
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Master station
input device No.
RWrn
RWr(n+1)
RWr(n+2)
RWr(n+3)
RWr(n+4)
RWr(n+5)
RWr(n+6)
RWr(n+7)
RWr(n+8)
RWr(n+9)
RWr(n+10)
RWr(n+11)
RWr(n+12)
RWr(n+13)
RWr(n+14)
RWr(n+15)
n: Address assigned to master module with station No. setting
a binary and substituted into SO2().
If variable A is 127, 7Fh will be set in
SO2().
(2) becomes 0200h.
becomes 1111h and SOW (3) becomes
0001h.
Robot controller
output port No.
SOW(0)
SOW(1)
SOD(2) SOW(2)
SOW(3)
SOD(4) SOW(4)
SOW(5)
SOD(6) SOW(6)
SOW(7)
SOD(8) SOW(8)
SOW(9)
SOD(10) SOW(10)
SOW(11)
SOD(12) SOW(12)
SOW(13)
SOD(14) SOW(14)
SOW(15)