3. Operation
Fieldbus Communication
97
RCP6
3.4.2 Gateway Control Signals (Common for All Operation Modes)
When operating the system with Fieldbus, the axes are controlled via Gateway of RCP6S.
The top 2 words of input and output in each operation mode are the signals gateway control and
status monitoring.
(n is the top word address for each PLC input and output between
RCP6S GW and PLC)
PLC → RCP6S GW (PLC Output) RCP6S GW → PLC (PLC Input)
Control Signal 0 n Status Signal 0 n
Control Signal 1 n+1 Status Signal 1 n+1
(1) PLC I/O Signal
PLC Output
Address n
b15 b14 b13 b12 b11 b10
b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control signal 0
MON
–
RTE
–
–
–
–
–
–
–
–
–
–
–
–
–
Address n+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Control signal 1
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
–
PLC Input
Address n
b15
b14 b13 b12 b11 b10
b9
b8 b7 b6 b5 b4 b3 b2 b1 b0
Status signal 0
RUN
LERC
ERRT
MOD
ALMH
ALML
–
SEMG
ALMC
128
ALMC64
ALMC32
ALMC16
ALMC8
ALMC4
ALMC2
ALMC1
Address n+1
b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
Status signal 1
LNK15
LNK14
LNK13
LNK12
LNK11
LNK10
LNK9
LNK8
LNK7
LNK6
LNK5
LNK4
LNK3
LNK2
LNK1
LNK0
Signal to cancel the remained condition of communication error
(ERR-C) during an operation
Signal to activate operation control by communication
Each type of control status monitoring output signals
Output of communication available axis number
1 word = 16 bit
1 word = 16 bit
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