IAI RoboNet - Command Area

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Part 1 S
p
ecification
3.7.3 Command Area
The eight input words and eight output words from the initial address of the gateway unit are fixed areas. With both output and
input, six words in this fixed area are assigned as a command area where various commands can be used to read/write the
position table, among others.
Note that commands cannot be used in the direct numerical specification mode.
(1) Address Configuration
The request command area and response command area consist of six input words and six output words, respectively.
[1] CC-Link
PLC output ⇒ Gateway ⇒ Axis input Axis output ⇒ Gateway ⇒ PLC input
*1 b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0 *1
RY 2F to 20 Request command Response command RX 2F to 20
RY 3F to 30 Data 0 Data 0 RX 3F to 30
RY 4F to 40 Data 1 Data 1 *2 (error code) RX 4F to 40
RY 5F to 50 Data 2 Data 2 RX 5F to 50
RY 6F to 60 Data 3 Data 3 RX 6F to 60
RY 7F to 70 Cannot be used. Cannot be used. RX 7F to 70
*1) Bit register address
*2) If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code
will be set in response data 1.
[1] DeviceNet, PROFIBUS, RS485SIO
*1
Address
PLC output ⇒ Gateway ⇒ Axis input Axis output ⇒ Gateway ⇒ PLC input
Word Byte b15 Upper byte b8 b7 Lower byte b0 b15 Upper byte b8 b7 Lower byte b0
+2 +4/+5 Request command Response command
+3 +6/+7 Data 0 Data 0
+4 +8/+9 Data 1 Data 1 *2 (error code)
+5 +10/+11 Data 2 Data 2
+6 +12/+13 Data 3 Data 3
+7 +13/+14 Cannot be used. Cannot be used.
*1 Each address is a relative address from the beginning of the gateway, and word addresses are used by the
DeviceNet type. With the PROFIBUS and RS485 SIO types, byte addresses are used and b8 to b15 comprising the
upper word are indicated as b0 to b7.
*2 If a command error occurs, the most significant bit (b15) of the response command will turn ON and an error code
will be set in response data 1.