Epson RC90 - Explicit Message Connection (for Devicenet, Ethernet;Ip)

3. Operation
RC700 / RC90 Option Fieldbus I/O Rev.14 249
3.4 Explicit Message Connection (for DeviceNet, EtherNet/IP)
Issuing an Explicit message from the DeviceNet/EtherNet/IP master unit to the Robot
System acquires and configures the DeviceNet and EtherNet/IP I/O area.
Supported function and Class ID configurations are as follows:
When using Assembly Object Class (Class ID = 4)
Function
Class ID
Instance
Service Code
Input acquisition
4 (04h)
100 (64h)
14 (0Eh)
Output configuration
4 (04h)
150 (96h)
16 (10h)
Output acquisition
4 (04h)
150 (96h)
14 (0Eh)
When using I/O Data Mapping Object Class (Class ID = 160, 161)
Function
Class ID
Instance
Service Code
Input acquisition
160 (A0h)
01 (01h)
14 (0Eh)
Output configuration
161 (A1h)
01 (01h)
16 (10h)
Output acquisition
161 (A1h)
01 (01h)
14 (0Eh)
Command response
It can acquire up to 32 bytes* input/output data.
* It depends on the input/output size setting.