Yamaha SRCD - Emulated Serialization on Parallel DIO

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CHAPTER2 PROFIBUS Unit
2-11 Emulated Serialization on parallel DIO
This is a function to directly send the input from the master sequencer (PLC) to the
external parallel I/O, or to directly send an external parallel I/O input to a master se-
quencer (PLC). An I/O port set for this function, can be controlled by the master se-
quencer (PLC), independently of the robot program so outputs can be handled as if from
a separate slave station.
This function is selected on the HPB, and can be set for any I/O. The SI200 - SI212*
1
inputs match the DO0 - DO12*
2
outputs, and the DI0 - DI15*
3
inputs match the SO200
- SO215*
4
outputs. (Emulated serialization cannot be performed on SI213 - SI231*
5
.)
External I/O
Normal
Controller
Sequencer (PLC)
Sequencer (PLC)
Sensors, etc.
Grippers, etc.
PROFIBUS
SI200-231
SO200-231
DI0-15
DO0-12
*
3
*
2
External I/O
Emulated serialization
Controller
Sequencer (PLC)
Sequencer (PLC)
Sensors, etc.
Grippers, etc.
PROFIBUS
SI200-212
SO200-215
DI0-15
DO0-12
*
3
*
2
*
1
*
4
More specifically, when emulated serialization is only for DI1, the DI1 status is
output to SO201. Output of SO201 with the DO statement is disabled at this time.
DI0, DI2 - DI15 and SO200, SO202 - SO215 can be used as normal input/outputs.
*The DO statement is invalid on output ports that used emulated serialization on a
parallel I/O.
* Do not make simultaneous function settings with parameters such as for emulated
serialization parallel I/O settings, origin return end action selection and servo sta-
tus output selection, and alarm number output selection since the functions will not
operate normally.
*1: SI200 to SI204 when the SRCP/SRCD series controllers are used.
*2: DO0 to DO4 when the SRCP/SRCD series controllers are used.
*3: DI0 to DI7 when the SRCP/SRCD series controllers are used.
*4: SO200 to SO207 when the SRCP/SRCD series controllers are used.
*5: SI205 to SI231 when the SRCP/SRCD series controllers are used.