IAI RoboNet - Page 54

34
Part 1 S
p
ecification
 Example of Overall CC-Link Address Configuration
(Positioner 1 mode/simple direct mode + Direct numerical specification mode)
An example of connecting 12 axes operating in the positioner 1 mode or simple direct mode and two axes operating in the
direct numerical specification mode is shown.
PLC output ⇒ ROBONET ROBONET⇒ PLC input
Output
register
Upper byte Lower byte
Input
register
Upper byte Lower byte
RY0F to 00 Gateway control signal 0 RX0F to 00 Gateway status signal 0
RY1F to 10 Gateway control signal 1 RX1F to 10 Gateway status signal 1
RY2F to 20 Request command RX2F to 20 Response command
RY3F to 30 Data 0 RX3F to 30 Data 0
RY4F to 40 Data 1 RX4F to 40 Data 1
RY5F to 50 Data 2 RX5F to 50 Data 2
RY6F to 60 Data 3 RX6F to 60 Data 3
RY7F to 70 (Cannot be used) RX7F to 70 (Cannot be used)
8-word
fixed area
*1
Output register Input register
PLC master expanded
cyclic setting
RWw 00H
(Axis 0) Position data specification (L)
RWr 00H
(Axis 0) Current position data (L)
RWw 01H
(Axis 0) Position data specification (H)
RWr 01H
(Axis 0) Current position data (H)
RWw 02H
(Axis 0) Command position number
RWr 02H
(Axis 0) Completed position number
RWw 03H
(Axis 0) Control signal
RWr 03H
(Axis 0) Status signal
4 words
Positioner/
simple direct
mode
RWw 04H
(Axis 1) Position data specification (L)
RWr 04H
(Axis 1) Current position data (L)
RWw 05H
(Axis 1) Position data specification (H)
RWr 05H
(Axis 1) Current position data (H)
RWw 06H
(Axis 1) Command position number
RWr 06H
(Axis 1) Completed position number
RWw 07H
(Axis 1) Control signal
RWr 07H
(Axis 1) Status signal
4 words
RWw 08H
(Axis 2) Position data specification (L)
RWr 08H
(Axis 2) Current position data (L)
RWw 09H
(Axis 2) Position data specification (H)
RWr 09H
(Axis 2) Current position data (H)
RWw 0AH
(Axis 2) Command position number
RWr 0AH
(Axis 2) Completed position number
RWw 0BH
(Axis 2) Control signal
RWr 0BH
(Axis 2) Status signal
4 words
RWw 0CH
(Axis 3) Position data specification (L)
RWr 0CH
(Axis 3) Current position data (L)
RWw 0DH
(Axis 3) Position data specification (H)
RWr 0DH
(Axis 3) Current position data (H)
RWw 0EH
(Axis 3) Command position number
RWr 0EH
(Axis 3) Completed position number
16 words
x1 setting,
4 stations
*2
RWw 0FH
(Axis 3) Control signal
RWr 0FH
(Axis 3) Status signal
4 words
   
   
   
32 words
x4 setting,
2 stations
RWw 1FH
(Axis 7) Control signal
RWr 1FH
(Axis 7) Status signal
   
   
   
RWw 2FH
(Axis 11) Control signal
RWr 2FH
(Axis 11) Status signal
4 words
RWw 30H (Axis 12) Position data specification (L)
RWr 30H
(Axis 12) Current position data (L)
RWw 31H (Axis 12) Position data specification (H)
RWr 31H
(Axis 12) Current position data (H)
RWw 32H
(Axis 12) Positioning band specification (L)
RWr 32H
(Axis 12) Current electrical current (L)
RWw 33H
(Axis 12) Positioning band specification (H)
RWr 33H
(Axis 12) Current electrical current (H)
RWw 34H (Axis 12) Speed specification
RWr 34H
(Axis 12) Current speed data
RWw 35H
(Axis 12) Acceleration/deceleration specification
RWr 35H
(Cannot be used)
RWw 36H (Axis 12) Push-current limiting value
RWr 36H
(Axis 12) Alarm code
RWw 37H (Axis12) Control signal
RWr 37H
(Axis 12) Status signal
8 words
Direct
numerical
specification
mode
RWw 38H (Axis 13) Position data specification (L)
RWr 38H
(Axis 13) Current position data (L)
RWw 39H (Axis 13) Position data specification (H)
RWr 39H
(Axis 13) Current position data (H)
RWw 3AH
(Axis 13) Positioning band specification (L)
RWr 3AH
(Axis 13) Current electrical current (L)
RWw 3BH
(Axis 13) Positioning band specification (H)
RWr 3BH
(Axis 13) Current electrical current (H)
RWw 3CH (Axis 13) Speed specification
RWr 3CH
(Axis 13) Current speed data
RWw 3DH
(Axis 13) Acceleration/deceleration specification
RWr 3DH
(Cannot be used)
RWw 3EH (Axis 13) Push-current limiting value
RWr 3EH
(Axis 13) Alarm code
64 words
x8 setting,
2 stations
RWw 3FH (Axis13) Control signal
RWr 3FH
(Axis 13) Status signal
8 words
*1 The extended cyclic setting is based on the occupied area information displayed using the gateway parameter setting tool.
*2 CC-Link Version 1.10 is also supplied as long as the expanded cyclic setting of x1 (four stations occupied) can be used.