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ID : 3067
Selecting a Method of Communicating System I/O Signals
The master controller controls interlocked robot motions. Therefore, the equipment management device can operate multiple robots with them interlocked by sending robot instructions only to the master controller.
System I/O signals on the master controller are used to send robot instructions to the master controller. System I/O signals are allocated to the I/O area of an I/O extension boards, such as a DeviceNet slave board, when it is installed, or allocated to Mini I/O when it is not installed.
A method of wiring to the equipment management device is different depending on whether system I/O signals are communicated through an I/O extension boards or Mini I/O. For the methods of wiring to the equipment management device, refer to the reference in the table below.
| Communication method | Reference |
|---|---|
| I/O extension boards | Refer to "Wiring between an I/O Extension Boards and the Equipment Management Device". |
| Mini I/O | Refer to "Wiring between Mini I/O and the Equipment Management Device". |
Some of system output signals output the logical AND or OR of both the master and slave controller states. For details, also refer to the reference in the table above.
- An I/O extension boards cannot be used for the slave controller.
(When Ethernet and EtherCAT are used for the method of communicating between robot controllers, an EtherCAT slave board can be used, but I/O data cannot be sent/received.) - For details on I/O extension boardss, refer to "Overview of I/O Extension Boards".
- When a parallel I/O board is used, system I/O signals can be allocated to Mini I/O. For other wiring methods, refer to "Wiring between Mini I/O and the Equipment Management Device".
ID : 3067