Yamaha RCX series, User Manual

Page: 42 / 84

3-6
Chapter
3
COMMUNICA
TION
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
input device No.
Robot controller
output port No.
Master station
input device No.
Robot controller
output port No.
RXn7~RXn0 SO(07)~SO(00) RWrn SOW(0)
RXnF~RXn8 SO(17)~SO(10) RWr(n+1) SOW(1)
RX(n+1)7~RX(n+1)0 SO(27)~SO(20) RWr(n+2)
SOD(2)
SOW(2)
RX(n+1)F~RX(n+1)8 SO(37)~SO(30) RWr(n+3) SOW(3)
RX(n+2)7~RX(n+2)0 SO(47)~SO(40) RWr(n+4)
SOD(4)
SOW(4)
RX(n+2)F~RX(n+2)8 SO(57)~SO(50) RWr(n+5) SOW(5)
RX(n+3)7~RX(n+3)0 SO(67)~SO(60) RWr(n+6)
SOD(6)
SOW(6)
RX(n+3)F~RX(n+3)8 SO(77)~SO(70) RWr(n+7) SOW(7)
RX(n+4)7~RX(n+4)0 SO(107)~SO(100) RWr(n+8)
SOD(8)
SOW(8)
RX(n+4)F~RX(n+4)8 SO(117)~SO(110) RWr(n+9) SOW(9)
RX(n+5)7~RX(n+5)0 SO(127)~SO(120) RWr(n+10)
SOD(10)
SOW(10)
RX(n+5)F~RX(n+5)8 SO(137)~SO(130) RWr(n+11) SOW(11)
RX(n+6)7~RX(n+6)0 SO(147)~SO(140) RWr(n+12)
SOD(12)
SOW(12)
RX(n+6)F~RX(n+6)8 SO(157)~SO(150) RWr(n+13) SOW(13)
RWr(n+14)
SOD(14)
SOW(14)
RWr(n+15) SOW(15)
n: Address assigned to master module with station No. setting
c
CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports.
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 a
binary and assigned to SO2().
If variable A is 127, 7Fh will be set in SO2().
n
NOTE
The SO statement in the robot language can be defi ned from SO2 ( ) to SO27 ( ),
but the CC-Link compatible module accepts from SO2 ( ) to SO15 ( ).
3. Communication with master station PLC