Yamaha RCX Series User Manual
Outline
1
1-
4
4. Assignment of CC-Link compatible I/O
The I/O expressions used in the robot controller’s program language and the I/O expres-
sions for the remote device stations differ. The correspondence is shown below.
sions for the remote device stations differ. The correspondence is shown below.
n: Address assigned to master module with station No. setting
n= (station No. - 1)
✕ 2
SOW(0)
*3
RWr0
SIW(0)
*3
RWw0
SOW(1)
*3
RWr1
SIW(1)
*3
RWw1
SOD(2) SOW(2)
RWr2
SID(2)
SIW(2)
RWw2
SOW(3)
RWr3
SIW(3)
RWw3
SOD(4) SOW(4)
RWr4
SID(4)
SIW(4)
RWw4
SOW(5)
RWr5
SIW(5)
RWw5
SOD(6) SOW(6)
RWr6
SID(6)
SIW(6)
RWw6
SOW(7)
RWr7
SIW(7)
RWw7
SOD(8) SOW(8)
RWr8
SID(8)
SIW(8)
RWw8
SOW(9)
RWr9
SIW(9)
RWw9
SOD(10) SOW(10) RWrA
SID(10) SIW(10) RWwA
SOW(11) RWrB
SIW(11) RWwB
SOD(12) SOW(12) RWrC
SID(12) SIW(12) RWwC
SOW(13) RWrD
SIW(13) RWwD
SOD(14) SOW(14) RWrE
SID(14) SIW(14) RWwE
SOW(15) RWrF
SIW(15) RWwF
SO0(7~0)
*1
RXn7~RXn0
SI0(7~0)
*1
RYn7~RYn0
SO1(7~0)
*1
RXnF~RXn8
SI1(7~0)
*1
RYnF~RYn8
SO2(7~0)
RX(n+1)7~RX(n+1)0
SI2(7~0)
RY(n+1)7~RY(n+1)0
SO3(7~0)
RX(n+1)F~RX(n+1)8
SI3(7~0)
RY(n+1)F~RY(n+1)8
SO4(7~0)
RX(n+2)7~RX(n+2)0
SI4(7~0)
RY(n+2)7~RY(n+2)0
SO5(7~0)
RX(n+2)F~RX(n+2)8
SI5(7~0)
RY(n+2)F~RY(n+2)8
SO6(7~0)
RX(n+3)7~RX(n+3)0
SI6(7~0)
RY(n+3)7~RY(n+3)0
SO7(7~0)
RX(n+3)F~RX(n+3)8
SI7(7~0)
RY(n+3)F~RY(n+3)8
SO10(7~0)
RX(n+4)7~RX(n+4)0
SI10(7~0) RY(n+4)7~RY(n+4)0
SO11(7~0)
RX(n+4)F~RX(n+4)8
SI11(7~0) RY(n+4)F~RY(n+4)8
SO12(7~0)
RX(n+5)7~RX(n+5)0
SI12(7~0) RY(n+5)7~RY(n+5)0
SO13(7~0)
RX(n+5)F~RX(n+5)8
SI13(7~0) RY(n+5)F~RY(n+5)8
SO14(7~0)
RX(n+6)7~RX(n+6)0
SI14(7~0) RY(n+6)7~RY(n+6)0
SO15(7~0)
RX(n+6)F~RX(n+6)8
SI15(7~0) RY(n+6)F~RY(n+6)8
------------
RX(n+7)F~RX(n+7)0
*2
------------
RY(n+7)F~RY(n+7)0
*2
Output from robot controller
Input to robot controller
Program language
Remote device station
Program language
Remote device station
Caution)
*1: Has a meaning in the robot controller’s internal process as a dedicated input/output. This
*1: Has a meaning in the robot controller’s internal process as a dedicated input/output. This
cannot be used as a general-purpose input/output in the robot program.
*2: This area is reserved for the CC-Link system.
*3: Has a meaning in the robot controller’s internal process as a dedicated command region. This
*3: Has a meaning in the robot controller’s internal process as a dedicated command region. This
cannot be used as a general-purpose input/output in the robot program.
An example of the flow of the I/O information in the robot controller (remote device
station) is shown below. The buffer memory in the master station used to store the infor-
mation, etc., differs according to the PLC type and station No., etc. Refer to the PLC
Manual for details.
station) is shown below. The buffer memory in the master station used to store the infor-
mation, etc., differs according to the PLC type and station No., etc. Refer to the PLC
Manual for details.
X17F to X100
D115 to D100
E7h to E0h
2EFh to 2E0h
FROM
TO
RX(n+7)F to RXn0
RWrF to RWr0
RY(n+7)F to RYn0
RWwF to RWw0
Y17F to Y100
D135 to D120
167h to 160h
1EFh to 1E0h
PLC CPU
(A1SHCPU)
Master station
(A1SJ61BT11)
Robot controller
Automatic update
Remote input
Remote input
n
NOTE
SIW(n) and SOW(n) are handled as
numerical data of word with no sign.
SID(n) and SOD(n) are handled as
numerical data of double words with a
sign.
numerical data of word with no sign.
SID(n) and SOD(n) are handled as
numerical data of double words with a
sign.
n
NOTE
The dedicated input of the STD.DIO
connector provided on the controller
will be disabled except for an interlock
signal (DI 11). When the external 24V
monitor control of system parameters
is disabled, the interlock signal (DI 11)
will also be disabled.
connector provided on the controller
will be disabled except for an interlock
signal (DI 11). When the external 24V
monitor control of system parameters
is disabled, the interlock signal (DI 11)
will also be disabled.