Yamaha RCX series, User Manual

Page: 41 / 84

3-5
Chapter
3
COMMUNICA
TION
When reading the bit information from the master station PLC’s output device No. with
the robot controller, write the following commands in the robot program in the same
manner as the DI input port:
WAIT command
Assignment statement
Example :To wait for RY(n+1)0 to turn ON
WAIT SI(20) = 1 ................. * The robot program will wait for SI(20) to turn
ON.
Example :To read the RY(n+1) 0 to RY(n+1)7 data in variable A
A = SI2() ............................ * The SI2() data will be converted into a
decimal and assigned to variable A.
If SI2() is 7Fh, variable A will be 127.
n
NOTE
The SI statement in the robot language can be defi ned from SI0 ( ) to SI27 ( ), but
the CC-Link compatible module accepts from SI0 ( ) to SI15 ( ).
When reading the word information from the master station PLC’s output device No. with
the robot controller, write the following command in the robot program.
Assignment statement
Example :To read the RWw (n+2) word data in variable B
B = SIW (2) ........................ * The SIW (2) data will be assigned to variable
B as a decimal. If SIW (2) is 01FFh, variable B
will be 511.
Example :To read the RWw (n+2) and RWw (n+3) double word data into variable C
C = SID (2) ........................ * The SIW (2) and SIW (3) data will be assigned
to variable C as a decimal.
If SIW (2) is 0010h and SIW (3) is 0001h,
variable C will be 65552.
n
NOTE
Word data read out with SIW(n) is a little endian format with no sign.
Double word data read out with SID(n) is a little endian format with a sign.
3. Communication with master station PLC