Table of contents
CP 1604 / CP 1616
10
Operating Instructions, 02/2017, C70000-G8976-C218-08
4.3.3
How does the IO router work? ............................................................................................... 69
4.3.4
Examples of reading and writing ............................................................................................ 70
4.3.5
Example of reading input data ............................................................................................... 71
4.3.6
Example of reading output data ............................................................................................. 72
4.3.7
Example of the main and robot controller writing output data ............................................... 73
4.3.8
Summary of the properties of IO routing ................................................................................ 74
4.3.9
Configuring IO routing ............................................................................................................ 75
4.4
Media redundancy ................................................................................................................. 75
4.4.1
General description ................................................................................................................ 76
4.4.1.1
Options of media redundancy ................................................................................................ 76
4.4.1.2
Media redundancy in ring topologies ..................................................................................... 76
4.4.2
MRP ....................................................................................................................................... 78
4.4.3
MRP configuration ................................................................................................................. 80
4.4.4
How do I configure media redundancy in a ring topology? .................................................... 83
4.5
Prioritized startup ................................................................................................................... 84
4.6
Eliminating problems .............................................................................................................. 84
5
Technical specifications ........................................................................................................................ 87
5.1
Communications processor CP 1604 / CP 1604 EEC ........................................................... 87
5.1.1
RJ-45 connection board for CP 1604..................................................................................... 88
5.2
CP 1616 communications processor ..................................................................................... 89
A
Approvals ............................................................................................................................................. 91
