Fieldbus - List of I/O commands

Modified on Tue, 5 Nov at 6:45 PM

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Overview

Expandable fieldbus cards are used to expand the existing I/O available on the RC8/A controller. This also allows the controller to communicate to different industrial protocols to make it easier to handle communication to other devices. For DENSO, the command structure is very similar for most of our fieldbus options.

Here is a list of compatible fieldbus cards for the RC8/A controller as well as respective combinations of cards.

The parallel card is expandable discrete I/O for the RC8/A controller. This card can be combined with all the fieldbus options, as its allocation does not overlap with the fieldbus options.

Aside from CC-Link RD, all the fieldbus cards use similar allocation modes. There are two main allocation modes called Standard and Compatible. Standard mode is typically recommended as it maximizes the available I/O by multiplexing bits to execute different functions. Compatible mode is a throwback mode for older controllers that used dedicated bits for dedicated command. For example in compatible mode, if you have 8 bits, you can only do 8 different commands with those bits. Through Standard mode, these bits are multiplexed allowing you to perform many more commands with the same number of bits.

Inputs (Standard mode):

Here is a chart of inputs for Standard mode. You can also reference the link for the same chart. I am referencing the DeviceNET slave allocation as the different fieldbus options share the same allocation.

https://www.fa-manuals.denso-wave.com/en/usermanuals/001458/

I/O port No.	Signal name
512	Step Stop (All tasks)
513	–
514	Halt (All tasks)
515	Strobe Signal
516	Interruption Skip
517	–
518	–
519	Command data area odd parity
520	Data area 1, bit 0
521	Data area 1, bit 1
522	Data area 1, bit 2
523	Data area 1, bit 3
524	Data area 1, bit 4
525	Data area 1, bit 5
526	Data area 1, bit 6
527	Data area 1, bit 7
528	Data area 2, bit 0
529	Data area 2, bit 1
530	Data area 2, bit 2
531	Data area 2, bit 3
532	Data area 2, bit 4
533	Data area 2, bit 5
534	Data area 2, bit 6
535	Data area 2, bit 7
536	Data area 2, bit 8
537	Data area 2, bit 9
538	Data area 2, bit 10
539	Data area 2, bit 11
540	Data area 2, bit 12
541	Data area 2, bit 13
542	Data area 2, bit 14
543	Data area 2, bit 15
544	Command area, bit 0
545	Command area, bit 1
546	Command area, bit 2
547	Command area, bit 3
548	–
549	–
550	–
551	–
552 … 767	User input

List I/O Command

Our fieldbus options use a 4-bit command area, 8-bit data area 1, and a 16-bit data area 2. The combination of these bits execute specific commands. The following table shows what commands are available.

https://www.fa-manuals.denso-wave.com/en/usermanuals/001011/

Command area	Data area 1	Data area 2	Status area
0001 Program Operation	00000001 Program reset start	Program number	–
00000010 Program start	Program number	–
00000100 Continue start	*	–
00010000 Step stop	Program number	–
00100000 Instantaneous stop	Program number	–
01000000 Reset	Program number	–
10000000 Activation of Supervisory Tasks	Program No.( 0xffff activates all supervisory tasks of root, 0xfffe activates all supervisory tasks)	＝
10000001 Deactivation of Supervisory Tasks	Program No. (0xffff deactivates all supervisory tasks)	＝
0010 External Speed and Acceleration Setting	00000001 Speed setting	Set speed value	–
00000010 Acceleration setting	Set acceleration value	–
00000100 Deceleration setting	Set deceleration value	–
0100 Error Read	–	–	Error number
0101 Type I Variable Write	Type I variable number	Set variable value (lower 16 bits)	–
0110 Type I Variable Read	Type I variable number	–	Variable value (lower 16 bits)
0111 Mode Switching	00000001 Motor ON, CAL execution	–	–
00000010 External speed 100	–	–
10000000 External mode switching 10000011 Execution of all above (Motor ON -> CAL -> SP100 -> External)	–	–
1000 Clear Robot Error	–	–	–
1001 I/O Write	Set I/O value	First internal I/O port address	–
1010 I/O Read	–	First internal I/O port address	I/O

The following timing diagram can be referenced for executing commands from your PLC.
https://www.fa-manuals.denso-wave.com/en/usermanuals/001006/

For executing a program from an external device, such as a PLC, you must make sure the STEP STOP (ALL TASKS) and HALT (ALL TASKS) inputs are normally ON. Failing to do so will prevent the program from executing.

Owner's Manual

https://www.fa-manuals.denso-wave.com/en/usermanuals/001011/