3. Communication with master station PLC
3
Communication
c CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports.
3.2Transmitting 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 | Robot controller | Master station | Robot controller | |
input device No. | output port No. | input device No. | 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 | |||
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
n NOTE
The SO statement in the robot language can be defined from SO2 ( ) to SO27 ( ), but the
n NOTE
Word data written with SOW(n) is a little endian format with no sign.
Double word data written with SOD(n) is a little endian format with a sign.
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 substituted into SO2(). |
|
| If variable A is 127, 7Fh will be set in |
|
| SO2(). |
When writing the robot controller’s word information into the master station PLC’s input device No., write the following command in the robot program.
Assignment statement
Example : To write 512 into RWr (n+2) as word data
SOW (2) = 512 | * 512 is substituted in SOW (2), and SOW |
| (2) becomes 0200h. |
Example : To write 69905 as the double word data for RWr (n+2) and RWr (n+3)
SOD (2) = 69905 | * 69905 is substituted in SOD (2), SOW (2) |
| becomes 1111h and SOW (3) becomes |
| 0001h. |
