3
Input/output assignments
7
3. Input/output assignments
Here we show the correspondence between the robot controller's serial input/output data and the input/
output data on the network.
■
Output from the controller, input to the host device
Host control device Controller
Address (READ) Address (WRITE) Input/output type Use
I (n)
SOW(0)
- Word output
Command status area
I (n+1)
I (n+2)
SOW(1) Remote command error code area
I (n+3)
I (n+4)
SOW(2)
SOD(2)
Word output /
Double word output
Command response area /
General-purpose output area
I (n+5)
I (n+6)
SOW(3)
I (n+7)
I (n+8)
SOW(4)
SOD(4)
I (n+9)
I (n+10)
SOW(5)
I (n+11)
I (n+12)
SOW(6)
SOD(6)
I (n+13)
I (n+14)
SOW(7)
I (n+15)
I (n+16)
SOW(8)
SOD(8)
I (n+17)
I (n+18)
SOW(9)
I (n+19)
I (n+20)
SOW(10)
SOD(10)
I (n+21)
I (n+22)
SOW(11)
I (n+23)
I (n+24)
SOW(12)
SOD(12)
I (n+25)
I (n+26)
SOW(13)
I (n+27)
I (n+28)
SOW(14)
SOD(14)
I (n+29)
I (n+30)
SOW(15)
I (n+31)
I (n+32) SO07 - SO00
Bit output Status output area
I (n+33) SO17 - SO10
I (n+34) SO27 - SO20
Bit output /
Byte output
General-purpose output area
I (n+35) SO37 - SO30
I (n+36) SO47 - SO40
I (n+37) SO57 - SO50
I (n+38) SO67 - SO60
I (n+39) SO77 - SO70
I (n+40) SO107 - SO100
I (n+41) SO117 - SO110
I (n+42) SO127 - SO120
I (n+43) SO137 - SO130
I (n+44) SO147 - SO140
I (n+45) SO157 - SO150
I (n+46) (Reserve)
Reserved area Use is prohibited
I (n+47) (Reserve)
I(n) : Starting address of the input data area for the target controller
• I(n), I(n+1), ..., (n+47) assume data memory that is divided at each byte (8-bits).
• SOx() is handled as unsigned 8-bit integer data. (x=2-7, 10-17)
• SOW(y) is handled as unsigned 16-bit integer data. (y=0 - 15)
• The upper byte and lower byte of SOW(y) correspond to I(2y+1) and I(2y) respectively.
• SOD(z) is handled as signed 32-bit integer data. (z=2, 4, ..., 14)
• The upper word and lower word of SOD(z) correspond to SIW(z+1) and SIW(n), respectively.
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