IAI RCM-P6AC, Instruction Manual

Page: 109 / 286

3. Operation
Fieldbus Communication
97
RCP6S
3.4.2 Gateway Control Signals (Common for All Operation Modes)
When operating the system with Fieldbus, the axes are controlled via Gateway of RCP6S.
The top 2 words of input and output in each operation mode are the signals gateway control and
status monitoring.
(n is the top word address for each PLC input and output between
RCP6S GW
and PLC)
PLC → RCP6S GW (PLC Output) RCP6S GW → PLC (PLC Input)
Control Signal 0 n Status Signal 0 n
Control Signal 1 n+1 Status Signal 1 n+1
(1) PLC I/O Signal
PLC Output
Address n
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control signal 0
MON
–
R
TE – – – – – – – – – – – – –
Address n+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control signal 1
– – – – – – – – – – – – – – – –
PLC Input
Address n
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Status signal 0
R
U
N
LERC ERR
T
MOD
ALMH
ALML
–
SEMG
ALMC 128
AL
M
C
64
AL
M
C
32
AL
M
C
16
AL
M
C
8
AL
M
C
4
AL
M
C
2
AL
M
C
1
Address n+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Status signal 1
LNK15 LNK14 LNK13 LNK12
LNK1
1
LNK10
LN
K9
LN
K8
LN
K7
LN
K6
LN
K5
LN
K4
LN
K3
LN
K2
LN
K1
LN
K0
Signal to cancel the remained condition of communication error
(ERR-C) during an operation
Signal to activate operation control by communication
Each type of control status monitoring output signals
Output of communication available axis number
1 word = 16 bit
1 word = 16 bit
ME0349-4B