User Manual

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Part 1 Specication Chapter 3 Gateway R unit
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Part 1 S
p
ecification
3.9.3 Protocol Format
3.9.3.1 Gateway Address Map
The slave address is fixed to “63 (3FH)”
for the RS485 SIO gateway.
As for gateway registers, inputs (PLC  ROBONET) are assigned to word addresses F600 H onward
in the PLC, while
outputs (ROBONET  PLC) are assigned to word addresses F700 H onward
in the PLC.
These word addresses are the register addresses used in communication messages.
Take note that these addresses vary depending on the gateway parameter settings (assignment of each axis). The address
map on the next page assumes that 12 axes of positioner mode or simple direct mode and two axes of direct numerical
specification mode are connected.
In the sample protocol format explained in this section, axis (0) is operated in the positioner mode, while axis (1) is operated in
the direct numerical specification mode. The gateway address map is as follows.
PLC output  ROBONET ROBONET PLC input
Register
address
Upper byte Lower byte Upper byte Lower byte
Register
address
F600 Gateway control signal 0 Gateway status signal 0 F700
F601 Gateway control signal 1 Gateway status signal 1 F701
F602 Request command Response command F702
F603 Data 0 Data 0 F703
F604 Data 1 Data 1 F704
F605 Data 2 Data 2 F705
F606 Data 3 Data 3 F706
F607 Cannot be used. Cannot be used. F707
F608 (Axis 0) Position data specification (L) (Axis 0) Current position data (L) F708
F609 (Axis 0) Position data specification (H) (Axis 0) Current position data (H) F709
F60A (Axis 0) Command position number (Axis 0) Completed position number F70A
F60B (Axis 0) Control signal (Axis 0) Status signal F70B
F60C (Axis 1) Position data specification (L) (Axis 1) Current position data (L) F70C
F60D (Axis 1) Position data specification (H) (Axis 1) Current position data (H) F70D
F60E (Axis 1) Positioning band specification (L) (Axis 1) Current electrical current (L) F70E
F60F (Axis 1) Positioning band specification (H) (Axis 1) Current electrical current (H) F70F
F610 (Axis 1) Speed specification (Axis 1) Current speed data F710
F611 (Axis 1) Acceleration/deceleration specification (Reserved) F711
F612 (Axis 1) Push-current limiting value Axis (1) Alarm F712
F613 (Axis1) Control signal (Axis 1) Status signal F713
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