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Input/output assignments

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.

Brand	Omron
Model	SCARA Robots YRCX Series
Category	Recording Equipment
Language	English

Omron SCARA Robots YRCX Series User Manual

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