Yamaha Robotics Robot Controller CC-Link Unit User Manual download pdf (Page 59)

5-5

Specifications

2. Details of remote input/output signals

SI(20) to SI(27): General-purpose input

SI(150) to SI(157):

General-purpose input

Initial data process complete flag

RY(n+1)0

RY(n+1)7

RY(n+6)8

RY(n+6)F

RY(n+7)8

Device No. Signal name Details

Set these inputs to ON or OFF to refer to SI port

values or execute WAIT command.

Turns ON when power is turned ON,

communication error is reset, or data initialization is

requested or completed.

Emergency stop input (RYn0) and interlock input

(RYn9) are turned ON when data is initialized.

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

RWwn Dedicated SIW(0) Used as the remote command area.

RWw(n+1) Dedicated SIW(1)

Used as the remote command’s command

data area.

RWw(n+2) General-purpose General-purpose SIW(2)

RWw(n+3) SID(2) General-purpose SIW(3)

RWw(n+4) General-purpose General-purpose SIW(4)

RWw(n+5) SID(4) General-purpose SIW(5)

RWw(n+6) General-purpose General-purpose SIW(6)

RWw(n+7) SID(6) General-purpose SIW(7)

RWw(n+8) General-purpose General-purpose SIW(8)

RWw(n+9) SID(8) General-purpose SIW(9)

RWw(n+10) General-purpose General-purpose SIW(10)

RWw(n+11) SID(10) General-purpose SIW(11)

RWw(n+12) General-purpose General-purpose SIW(12)

RWw(n+13) SID(12) General-purpose SIW(13)

RWw(n+14) General-purpose General-purpose SIW(14)

RWw(n+15) SID(14) General-purpose SIW(15)

Device No. Name Details

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

Used to input word or double word data

from SIW or SID port.

Or, used as remote command’s command

data area.

RWrn Dedicated SOW(0) Used as remote command’s status area.

RWr(n+1) Dedicated SOW(1)

Used as remote command’s error

code area.

RWr(n+2) General-purpose General-purpose SOW(2)

RWr(n+3) SOD(2) General-purpose SOW(3)

RWr(n+4) General-purpose General-purpose SOW(4)

RWr(n+5) SOD(4) General-purpose SOW(5)

RWr(n+6) General-purpose General-purpose SOW(6)

RWr(n+7) SOD(6) General-purpose SOW(7)

RWr(n+8) General-purpose General-purpose SOW(8)

RWr(n+9) SOD(8) General-purpose SOW(9)

RWr(n+10) General-purpose General-purpose SOW(10)

RWr(n+11) SOD(10) General-purpose SOW(11)

RWr(n+12) General-purpose General-purpose SOW(12)

RWr(n+13) SOD(12) General-purpose SOW(13)

RWr(n+14) General-purpose General-purpose SOW(14)

RWr(n+15) SOD(14) General-purpose SOW(15)

Device No. Name Details

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

Used to output word or double word data

from SOW or SOD port.

Or, used as remote command’s response

area.

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Yamaha Robotics Robot Controller CC-Link Unit User Manual Page 59

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