FANUC R-J3iB - 6.1 READING AND WRITING I;O SIGNALS (%I, %Q, %M, %AI, %AQ)

6.ADDRESS ASSIGNMENT TO POINTS OPERATION B-82604EN/01
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6.1 READING AND WRITING I/O SIGNALS
(%I, %Q, %M, %AI, %AQ)
CIMPLICITY can read and write DI[1] of robot controller as PLC
address %Q1. Robot controller I/O signals correspond to PLC
addresses on a one-to-one basis as listed below.
Robot controller I/O signal PLC address Example
Digital Input DI[x]
%Qx DI[1] ⇔ %Q1
Digital Output DO[x]
%Ix DO[1] ⇔ %I1
Robot Input RI[x]
%Q(5000+x) RI[1] ⇔ %Q5001
Robot Output RO[x]
%I(5000+x) RO[1] ⇔ %I5001
UOP Input UI[x]
%Q(6000+x) UI[1] ⇔ %Q6001
UOP Output UO[x]
%I(6000+x) UO[1] ⇔ %I6001
SOP Input SI[x]
%Q(7000+x) SI[0] ⇔ %Q7001
SOP Output SO[x]
%I(7000+x) SO[0] ⇔ %I7001
Weld Input WI[x]
%Q(8000+x) WI[0] ⇔ %Q8001
Weld Output WO[x]
%I(8000+x) WO[0] ⇔ %Q8001
Wire Stick Input WSI[x]
%Q(8400+x) WSI[0] ⇔ %Q8400
Wire Stick Output WSO[x]
%I(8400+x) WSO[0] ⇔ %Q8401
Group Input GI[x]
%Aqx GI[1] ⇔ %AQ1
Group Output GO[x]
%Aix GO[1] ⇔ %AI1
Analog Input AI[x]
%AQ(1000+x) AI[1] ⇔ %AQ1001
Analog Output AO[x]
%AI(1000+x) AO[1] ⇔ %AI1001
PMC keep relay
DO[x] (x : 10001 – 10144)
Ka.b
%Ix
%I((a*8)+b+10001)
DO[10001] ⇔ %I10001
K2.5 ⇔ %I10022
PMC internal relay
DO[x] (x : 11001 – 23000)
Ra.b
%M(x-11000)
%M((a*8)+b+1)
DO[11001] ⇔ %M1
R2.5 ⇔ %M22
PMCdata table
GO[x] (x : 10001 – 12000)
D(a*2), D((a*2)+1)
%AI(x-6000)
%AI(a+4001)
GO[10001] ⇔ %AI4001
D4, D5 ⇔ %AI4003
CAUTION
In the PLC address, %I and %AI are input signals,
and %Q and %AQ are output signals. When robot
controller data is read and written, however, the
robot controller input signals correspond to %Q
and %AQ, and the robot controller output signals
correspond to %I and %AI. Note that, therefore,
the meanings of the robot controller signals are
opposite to those of the PLC signals.