Yamaha RCX340, Руководство пользователя

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3
Input/output assignments
7
3. Input/output assignments
Here we show the correspondence between the robot controller's serial input/output data and the input/
output data on the network.
■
Output from the controller, input to the host control device
Host control device Controller
Address (READ) Address (WRITE) Input/output type Use
m
SOW(0)
- Word output
Command status area
m + 1
m + 2
SOW(1) Remote command error code area
m + 3
m + 4
SOW(2)
SOD(2)
Word output /
Double word output
Command response area /
General-purpose output area
m + 5
m + 6
SOW(3)
m + 7
m + 8
SOW(4)
SOD(4)
m + 9
m + 10
SOW(5)
m + 11
m + 12
SOW(6)
SOD(6)
m + 13
m + 14
SOW(7)
m + 15
m + 16
SOW(8)
SOD(8)
m + 17
m + 18
SOW(9)
m + 19
m + 20
SOW(10)
SOD(10)
m + 21
m + 22
SOW(11)
m + 23
m + 24
SOW(12)
SOD(12)
m + 25
m + 26
SOW(13)
m + 27
m + 28
SOW(14)
SOD(14)
m + 29
m + 30
SOW(15)
m + 31
m + 32
SO07 - SO00
Bit output Status output area
m + 33 SO17 - SO10
m + 34 SO27 - SO20
Bit output /
Byte output
General-purpose output area
m + 35 SO37 - SO30
m + 36 SO47 - SO40
m + 37 SO57 - SO50
m + 38 SO67 - SO60
m + 39 SO77 - SO70
m + 40 SO107 - SO100
m + 41 SO117 - SO110
m + 42 SO127 - SO120
m + 43 SO137 - SO130
m + 44 SO147 - SO140
m + 45 SO157 - SO150
m + 46 SO167 - SO160
Reserved area Use is prohibited
m + 47 SO177 - SO170
m: Starting address of the input data area for the target controlle
r
• Each address is 8 bit data.
• SOn() is handled as unsigned 8-bit integer data.
• SOW(n) is handled as unsigned 16-bit integer data.
• SOD(n) is handled as signed 32-bit integer data.
• The upper word and lower word of SOD(n) correspond to SOW(n+1) and SOW(n), respectively.