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3-3
3
Communication
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.
3.1 Receiving 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.
n: Address assigned to master module with station No. setting
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)
Master station
output device No.
Robot controller
input port No.
Master station
output device No.
Robot controller
input port No.
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
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
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 :T
o 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.
n
NOTE
The SI statement in the robot language
can be defined from SI0 ( ) to SI27 ( ),
but the CC-Link compatible module
accepts from SI0 ( ) to SI15 ( ).
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.
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 general-purpose
input ports.
Set these ports to "0" in most cases.