Assignment Of Cc-Link Compatible I/O - Yamaha CC-Link RCX Series Owner's Manual

4. Assignment of CC-Link compatible I/O

1
n
NOTE
SIW(n) and SOW(n) are handled as
numerical data of word with no sign.
SID(n) and SOD(n) are handled as
numerical data of double words with a
sign.
n
NOTE
The dedicated input of the STD.DIO
connector provided on the controller
will be disabled except for an interlock
signal (DI 11). When the external 24V
monitor control of system parameters
is disabled, the interlock signal (DI 11)
will also be disabled.
4
1-
The I/O expressions used in the robot controller's program language and the I/O expres-
sions for the remote device stations differ. The correspondence is shown below.
Output from robot controller
Program language Remote device station
*3
SOW(0) RWr0
*3
SOW(1) RWr1
SOD(2) SOW(2) RWr2
SOW(3) RWr3
SOD(4) SOW(4) RWr4
SOW(5) RWr5
SOD(6) SOW(6) RWr6
SOW(7) RWr7
SOD(8) SOW(8) RWr8
SOW(9) RWr9
SOD(10) SOW(10) RWrA
SOW(11) RWrB
SOD(12) SOW(12) RWrC
SOW(13) RWrD
SOD(14) SOW(14) RWrE
SOW(15) RWrF
*1
SO0(7~0) RXn7~RXn0
*1
SO1(7~0) RXnF~RXn8
SO2(7~0) RX(n+1)7~RX(n+1)0
SO3(7~0) RX(n+1)F~RX(n+1)8
SO4(7~0) RX(n+2)7~RX(n+2)0
SO5(7~0) RX(n+2)F~RX(n+2)8
SO6(7~0) RX(n+3)7~RX(n+3)0
SO7(7~0) RX(n+3)F~RX(n+3)8
SO10(7~0) RX(n+4)7~RX(n+4)0
SO11(7~0) RX(n+4)F~RX(n+4)8
SO12(7~0) RX(n+5)7~RX(n+5)0
SO13(7~0) RX(n+5)F~RX(n+5)8
SO14(7~0) RX(n+6)7~RX(n+6)0
SO15(7~0) RX(n+6)F~RX(n+6)8
------------ RX(n+7)F~RX(n+7)0
Caution)
*1: Has a meaning in the robot controller's internal process as a dedicated input/output. This
cannot be used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller's internal process as a dedicated command region. This
cannot be used as a general-purpose input/output in the robot program.
An example of the flow of the I/O information in the robot controller (remote device
station) is shown below. The buffer memory in the master station used to store the infor-
mation, etc., differs according to the PLC type and station No., etc. Refer to the PLC
Manual for details.
PLC CPU
(A1SHCPU)
FROM
X17F to X100
D115 to D100
TO
Y17F to Y100
D135 to D120
Get other manuals https://www.bkmanuals.com
Input to robot controller
Program language
*3
SIW(0) RWw0
*3
SIW(1) RWw1
SID(2) SIW(2) RWw2
SIW(3) RWw3
SID(4) SIW(4) RWw4
SIW(5) RWw5
SID(6) SIW(6) RWw6
SIW(7) RWw7
SID(8) SIW(8) RWw8
SIW(9) RWw9
SID(10) SIW(10) RWwA
SIW(11) RWwB
SID(12) SIW(12) RWwC
SIW(13) RWwD
SID(14) SIW(14) RWwE
SIW(15) RWwF
*1
SI0(7~0) RYn7~RYn0
*1
SI1(7~0) RYnF~RYn8
SI2(7~0) RY(n+1)7~RY(n+1)0
SI3(7~0) RY(n+1)F~RY(n+1)8
SI4(7~0) RY(n+2)7~RY(n+2)0
SI5(7~0) RY(n+2)F~RY(n+2)8
SI6(7~0) RY(n+3)7~RY(n+3)0
SI7(7~0) RY(n+3)F~RY(n+3)8
SI10(7~0) RY(n+4)7~RY(n+4)0
SI11(7~0) RY(n+4)F~RY(n+4)8
SI12(7~0) RY(n+5)7~RY(n+5)0
SI13(7~0) RY(n+5)F~RY(n+5)8
SI14(7~0) RY(n+6)7~RY(n+6)0
SI15(7~0) RY(n+6)F~RY(n+6)8
*2
------------ RY(n+7)F~RY(n+7)0
n: Address assigned to master module with station No. setting
n= (station No. - 1) ✕ 2
Master station
(A1SJ61BT11)
Remote input
E7h to E0h
2EFh to 2E0h
167h to 160h
1EFh to 1E0h
Automatic update
Remote device station
*2
Robot controller
Remote input
RX(n+7)F to RXn0
RWrF to RWr0
RY(n+7)F to RYn0
RWwF to RWw0