Address to Use
KEY POINTS
You cannot use the same address as other devices. Beware of “Duplicating Addresses” in a PLC project.
In VAR_CONFIG, allocations for Robot Controller are as shown below.
| Variable name on library | Allocation for robot | Bit number on robot |
|---|---|---|
| In_ExtCmdGet | 0th Bit of Byte0 | (Slave output) 512 |
| In_ExtRespSet | 1st Bit of Byte0 | (Slave output) 513 |
| In_ExtCmdResult | 2nd Bit of Byte0 | (Slave output) 514 |
| In_ExtError | 3rd Bit of Byte0 | (Slave output) 515 |
| In_ExtResp_W0 | Byte2 and Byte3 | (Slave output) 528-543 |
| In_ExtResp_W1 | Byte4 and Byte5 | (Slave output) 544-559 |
| In_ExtResp_W2 | Byte6 and Byte7 | (Slave output) 560-575 |
| In_ExtResp_W3 | Byte8 and Byte9 | (Slave output) 576-591 |
| In_ExtResp_W4 | Byte10 and Byte11 | (Slave output) 592-607 |
| In_ExtResp_W5 | Byte12 and Byte13 | (Slave output) 608-623 |
| In_ExtResp_W6 | Byte14 and Byte15 | (Slave output) 624-639 |
| In_ExtResp_W7 | Byte16 and Byte17 | (Slave output) 640-655 |
| Out_ExtCmdSet | 0th Bit of Byte0 | (Slave input) 512 |
| Out_ExtRespGet | 1st Bit of Byte0 | (Slave input) 513 |
| Out_ExtCmdReset | 2nd Bit of Byte0 | (Slave input) 514 |
| Out_ExtCmd_W0 | Byte2 and Byte3 | (Slave input) 528-543 |
| Out_ExtCmd_W1 | Byte4 and Byte5 | (Slave input) 544-559 |
| Out_ExtCmd_W2 | Byte6 and Byte7 | (Slave input) 560-575 |
| Out_ExtCmd_W3 | Byte8 and Byte9 | (Slave input) 576-591 |
| Out_ExtCmd_W4 | Byte10 and Byte11 | (Slave input) 592-607 |
| Out_ExtCmd_W5 | Byte12 and Byte13 | (Slave input) 608-623 |
| Out_ExtCmd_W6 | Byte14 and Byte15 | (Slave input) 624-639 |
| Out_ExtCmd_W7 | Byte16 and Byte17 | (Slave input) 640-655 |
KEY POINTS
The following “Static Addresses” are used in CODESYS Function Blocks included in RC+ 7.0 version 7.5.1. You cannot change the address.
- Input address: 0.0 ~ 31.7
- Output address: 0.0 ~ 31.7
| Name | Address | Allocation for robot |
|---|---|---|
| In_ExtCmdGet | %IX0.0 | 0th Bit of Byte0 |
| In_ExtRespSet | %IX0.1 | 1st Bit of Byte0 |
| In_ExtCmdResult | %IX0.2 | 2nd Bit of Byte0 |
| In_ExtError | %IX0.3 | 3rd Bit of Byte0 |
| In_ExtResp_W0 | %IW1 | Byte2, Byte3 |
| In_ExtResp_W1 | %IW2 | Byte4, Byte5 |
| In_ExtResp_W2 | %IW3 | Byte6, Byte7 |
| In_ExtResp_W3 | %IW4 | Byte8, Byte9 |
| In_ExtResp_W4 | %IW5 | Byte10, Byte11 |
| In_ExtResp_W5 | %IW6 | Byte12, Byte13 |
| In_ExtResp_W6 | %IW7 | Byte14, Byte15 |
| In_ExtResp_W7 | %IW8 | Byte16, Byte17 |
| Out_ExtCmdSet | %QX0.0 | 0th Bit of Byte0 |
| Out_ExtRespGet | %QX0.1 | 1st Bit of Byte0 |
| Out_ExtCmdReset | %QX0.2 | 2nd Bit of Byte0 |
| Out_ExtCmd_W0 | %QW1 | Byte2, Byte3 |
| Out_ExtCmd_W1 | %QW2 | Byte4, Byte5 |
| Out_ExtCmd_W2 | %QW3 | Byte6, Byte7 |
| Out_ExtCmd_W3 | %QW4 | Byte8, Byte9 |
| Out_ExtCmd_W4 | %QW5 | Byte10, Byte11 |
| Out_ExtCmd_W5 | %QW6 | Byte12, Byte13 |
| Out_ExtCmd_W6 | %QW7 | Byte14, Byte15 |
| Out_ExtCmd_W7 | %QW8 | Byte16, Byte17 |