Yamaha RCX Series User Manual

The method for communicating with the master station PLC by using the robot program when the CC-

Link system is correctly connected is explained in this section.

Data is received by reading the master station PLC output device data with the robot
controller’s input port.
The correspondence of the master station PLC’s output device numbers and robot
controller’s input port numbers is shown below.

n: Address assigned to master module with station No. setting

RYn7~RYn0  

SI(07)~SI(00)  

RWwn   

 

SIW(0)

RYnF~RYn8  

SI(17)~SI(10)  

RWw(n+1)   

 

SIW(1)

RY(n+1)7~RY(n+1)0  

SI(27)~SI(20)  

RWw(n+2)  

SID(2)  

SIW(2)

RY(n+1)F~RY(n+1)8  

SI(37)~SI(30)  

RWw(n+3)   

 

SIW(3)

RY(n+2)7~RY(n+2)0  

SI(47)~SI(40)  

RWw(n+4)  

SID(4)  

SIW(4)

RY(n+2)F~RY(n+2)8  

SI(57)~SI(50)  

RWw(n+5)   

 

SIW(5)

RY(n+3)7~RY(n+3)0  

SI(67)~SI(60)  

RWw(n+6)  

SID(6)  

SIW(6)

RY(n+3)F~RY(n+3)8  

SI(77)~SI(70)  

RWw(n+7)   

 

SIW(7)

RY(n+4)7~RY(n+4)0  

SI(107)~SI(100)  

RWw(n+8)  

SID(8)  

SIW(8)

RY(n+4)F~RY(n+4)8  

SI(117)~SI(110)  

RWw(n+9)   

 

SIW(9)

RY(n+5)7~RY(n+5)0  

SI(127)~SI(120)  

RWw(n+10)  

SID(10)  

SIW(10)

RY(n+5)F~RY(n+5)8  

SI(137)~SI(130)  

RWw(n+11)   

 

SIW(11)

RY(n+6)7~RY(n+6)0  

SI(147)~SI(140)  

RWw(n+12)  

SID(12)  

SIW(12)

RY(n+6)F~RY(n+6)8  

SI(157)~SI(150)  

RWw(n+13)   

 

SIW(13)

   

 

RWw(n+14)  

SID(14)  

SIW(14)

   

 

RWw(n+15)   

 

SIW(15)

 

 

Master station 

output device No.

Robot controller 

input port No.

 

 

Master station 

output device No.

Robot controller 

input port No.

When reading the bit information from the master station PLC’s output device No. with
the robot controller, write the following commands in the robot program in the same
manner as the DI input port:

WAIT command
Assignment statement

Example

:To wait for RY(n+1)0 to turn ON

WAIT SI(20) = 1 ................... * The robot program will wait for SI(20) to

turn ON.

Example

:To read the RY(n+1) 0 to RY(n+1)7 data in variable A

A = SI2() ............................... * The SI2() data will be converted into a deci-

mal and substituted into variable A.
If SI2() is 7Fh, variable A will be 127.

When reading the word information from the master station PLC’s output device No.
with the robot controller, write the following command in the robot program.

Assignment statement

Example

:To read the RWw (n+2) word data in variable B

B = SIW (2) .......................... * The SIW (2) data will be substituted into

variable B as a decimal. If SIW (2) is
01FFh, variable B will be 511.

Example

:To read the RWw (n+2) and RWw (n+3) double word data into variable C

C = SID (2) ........................... * The SIW (2) and SIW (3) data will be sub-

stituted into variable C as a decimal. If SIW
(2) is 0010h and SIW (3) is 0001h, vari-
able C will be 65552.

n

n

c