3. Communication with master station PLC
The method for communicating with the master station PLC by using the robot program when the CC-
Link system is correctly connected is explained in this section.
c CAUTION
SIW(0) and SIW(1) are viewed as dedicated input ports. The robot controller handles these ports as input ports of meaningful data, so do not use them as
Set these ports to "0" in most cases.
3.1Receiving data
Data is received by reading the master station PLC output device data with the robot controller’s input port.
The correspondence of the master station PLC’s output device numbers and robot controller’s input port numbers is shown below.
Master station | Robot controller | Master station | Robot controller | |
output device No. | input port No. | output device No. | input port No. | |
|
|
|
|
|
RYn7~RYn0 | SI(07)~SI(00) | RWwn |
| SIW(0) |
RYnF~RYn8 | SI(17)~SI(10) | RWw(n+1) |
| SIW(1) |
RY(n+1)7~RY(n+1)0 | SI(27)~SI(20) | RWw(n+2) | SID(2) | SIW(2) |
RY(n+1)F~RY(n+1)8 | SI(37)~SI(30) | RWw(n+3) |
| SIW(3) |
RY(n+2)7~RY(n+2)0 | SI(47)~SI(40) | RWw(n+4) | SID(4) | SIW(4) |
RY(n+2)F~RY(n+2)8 | SI(57)~SI(50) | RWw(n+5) |
| SIW(5) |
RY(n+3)7~RY(n+3)0 | SI(67)~SI(60) | RWw(n+6) | SID(6) | SIW(6) |
RY(n+3)F~RY(n+3)8 | SI(77)~SI(70) | RWw(n+7) |
| SIW(7) |
RY(n+4)7~RY(n+4)0 | SI(107)~SI(100) | RWw(n+8) | SID(8) | SIW(8) |
RY(n+4)F~RY(n+4)8 | SI(117)~SI(110) | RWw(n+9) |
| SIW(9) |
RY(n+5)7~RY(n+5)0 | SI(127)~SI(120) | RWw(n+10) | SID(10) | SIW(10) |
RY(n+5)F~RY(n+5)8 | SI(137)~SI(130) | RWw(n+11) |
| SIW(11) |
RY(n+6)7~RY(n+6)0 | SI(147)~SI(140) | RWw(n+12) | SID(12) | SIW(12) |
RY(n+6)F~RY(n+6)8 | SI(157)~SI(150) | RWw(n+13) |
| SIW(13) |
|
| RWw(n+14) | SID(14) | SIW(14) |
|
| RWw(n+15) |
| SIW(15) |
n: Address assigned to master module with station No. setting
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
3
Communication
n NOTE
The SI statement in the robot language can be defined from SI0 ( ) to SI27 ( ), but the
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 deci- |
|
| mal and substituted into variable A. |
|
| If SI2() is 7Fh, variable A will be 127. |
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
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.
Example | :To read the RWw (n+2) word data in variable B | |
| B = SIW (2) | * The SIW (2) data will be substituted into |
|
| 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 sub- |
|
| stituted into variable C as a decimal. If SIW |
|
| (2) is 0010h and SIW (3) is 0001h, vari- |
|
| able C will be 65552. |
