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.
|I/O port No.||Signal name|
|512||Step Stop (All tasks)|
|514||Halt (All tasks)|
|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|
|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.
|Command area||Data area 1||Data area 2||Status area|
|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)||－|
External Speed and Acceleration Setting
|00000001 Speed setting||Set speed value||–|
|00000010 Acceleration setting||Set acceleration value||–|
|00000100 Deceleration setting||Set deceleration value||–|
Type I Variable Write
|Type I variable number||Set variable value (lower 16 bits)||–|
Type I Variable Read
|Type I variable number||–||Variable value (lower 16 bits)|
|00000001 Motor ON, CAL execution||–||–|
|00000010 External speed 100||–||–|
|10000000 External mode switching 10000011 Execution of all above (Motor ON -> CAL -> SP100 -> External)||–||–|
Clear Robot Error
|Set I/O value||First internal I/O port address||–|
|–||First internal I/O port address||I/O|
The following timing diagram can be referenced for executing commands from your PLC.
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.