I/O Setting

The following shows how to configure I/Os to communicate with a robot controller.

The following shows how to set I/Os.

1

In the [Solution Explorer] tab, right-click [Devices].

Click [Add New Item...].

 

2

Select the type of field network you use. 
In this example, "EtherCAT Master" is selected.

Enter any name and click [OK].

3

Click [Cancel].

Items of the selected field network are added into the lower layer of [Devices].

4

From the following URL, access DENSO WAVE Industrial Robot website and download the configuration file of field network.

https://www.denso-wave.com/en/robot/download/application/

From the [Application software] webpage, click [Field Network].

5

Download a configuration file suitable for the field network you use.

In this example, download [ESI file for RC8 EtherCAT Slave (Without SysmacStudio)].

6

Unzip the downloaded field network configuration file, and install it in application.

In this example, saving the downloaded file into the following folder will complete the installation.

C:\TwinCAT\3.1\Config\Io\EtherCAT

7

Right-click an item of field network that has been added in STEP3.

Click [Add New Item...].

8

Select [DENSO WAVE INCORPORSTED] - [RC8] - [RC8 ECS].

Enter any name and click [OK].

9

An ECS file is added.

Double-click the added item.

10

Property is displayed.

Select [Process Data] tab.

11

In the [Sync Manager] area, select [Outputs]. In the [PDO Assignment] area, select [0x1603].

12

In the [Sync Manager] area, select [Inputs]. In the [PDO Assignment] area, select [0x1A03].

 

This completes the I/O setting.