3.4. Ethernet/IP Communication Format

3.4. Ethernet/IP Communication Format

 

1.   Input Area (Robot Controller to Monitor PLC; PLC → Robot Controller)

Classification	Data Description										Remarks
Byte Address	Bit 1		Bit 2		Bit 3	Bit 4	Bit 5	Bit 6	Bit 7	Bit 8
0	To check communication										The value of this area is refreshed cyclically from 1 through 5.
1
2	Current value of temperature 1Ch										Monitoring of each channel’s current temperature (in 0.1°C increments) Ex.: “20.5°C” → “205”
3
4	Temperature 2Ch current value display
5
6	Temperature 3Ch current value display
7
8	Temperature 4Ch current value display
9
10	Temperature 5Ch current value display
11
12	Temperature 6Ch current value display
13
14	Temperature 7Ch current value display (reserved)
15
16	Temperature 8Ch current value display (reserved)
17
18	Temperature 1Ch upper limit		Temperature 1Ch lower limit		Temperature 2Ch upper limit	Temperature 2Ch lower limit	Temperature 3Ch upper limit	Temperature 3Ch lower limit	Temperature 4Ch upper limit	Temperature 4Ch lower limit	Monitoring of each temperature channel’s upper/lower temperature limit lamp True: Alert ON; False: Alert OFF
19	Temperature 5Ch upper limit		Temperature 5Ch lower limit		Temperature 6Ch upper limit	Temperature 6Ch lower limit	Temperature 7Ch upper limit	Temperature 7Ch lower limit	Temperature 8Ch upper limit	Temperature 8Ch lower limit
20	Flow 1Ch current value display										Monitoring of each channel’s current flow (in l/min) Ex.: “100 l/min” → “100”
21
22	Flow 2Ch current value display (reserved)
23
24	Flow 1Ch upper limit		Flow 1Ch lower limit		Flow 2Ch upper limit	Flow 2Ch lower limit	Not used				Monitoring of each flow channel’s upper/lower flow limit lamp True: Alert ON; False: Alert OFF
25	Not used
26	Temperature 1Ch upper limit value display										Monitoring of each channel’s upper/lower temperature limit value with the “Byte 18–19” temperature alert lamp working (in 0.1°C increments) Ex.: Upper limit of temperature 1Ch, “30.5°C” → “305”
27
28	Temperature 1Ch lower limit value display
29
30	Temperature 2Ch upper limit value display
31
32	Temperature 2Ch lower limit value display
33
34	Temperature 3Ch upper limit value display
35
36	Temperature 3Ch lower limit value display
37
38	Temperature 4Ch upper limit value display
39
40	Temperature 4Ch lower limit value display
41
42	Temperature 5Ch upper limit value display
43
44	Temperature 5Ch lower limit value display
45
46	Temperature 6Ch upper limit value display
47
48	Temperature 6Ch lower limit value display
49
50	Temperature 7Ch upper limit value display (reserved)
51
52	Temperature 7Ch lower limit value display (reserved)
53
54	Temperature 8Ch upper limit value display (reserved)
55
56	Temperature 8Ch lower limit value display (reserved)
57
58	Flow 1Ch upper limit value display										Monitoring of each channel’s upper/lower flow limit value with the “Byte 28–29” flow alert lamp working (in l/min) Ex.: Upper limit value of flow 1Ch, “200 l/min” → “200”
59
60	Flow 1Ch lower limit value display
61
62	Flow 2Ch upper limit value display (reserved)
63
64	Flow 2Ch lower limit value display (reserved)
65
66	Quantity of sensors installed										Displays the number of installed sensors. Ex.: 4 = 4 sensors are installed
67
68	Sensor setting complete	Processing sensor setting		Not used							Light input of current sensor; Mode settings are the same with the sensor settings (output area) from the robot. Bit 1 – True: Sensor setting complete; False: Sensor setting incomplete Bit 2 – True: Processing sensor setting (if incorrect values are written); False: Sensor setting complete
69	Not used
70	Sensor 1Ch output L1		Sensor 2Ch output L2		Sensor 3Ch output R1	Sensor 4Ch output R2	Sensor 5Ch output	Sensor 6Ch output	Sensor 7Ch output	Sensor 8Ch output	Monitoring the output state of each sensor True: Sensor output ON; False: Sensor output OFF
71	Not used
72	Sensor 1Ch light input display (LGS1)										Monitoring of each sensor’s light input Display range by sensing mode H-SP/FAST/STD: 0–4,000; LONG: 0–8,000; U-LG/HYPR: 0–9,999
73
74	Sensor 2Ch light input display (LGS2)
75
76	Sensor 3Ch light input display (RGS1)
77
78	Sensor 4Ch light input display (RGS2)
79
80	Sensor 5Ch light input display (reserved)
81
82	Sensor 6Ch light input display (reserved)
83
84	Sensor 7Ch light input display (reserved)
85
86	Sensor 8Ch light input display (reserved)
87
88	Sensor 1Ch setting value display (LGS1)										Monitoring of each sensor’s setting value (threshold) Display range by sensing mode H-SP/FAST/STD: 0–4,000; LONG: 0–8,000; U-LG/HYPR: 0–9,999
89
90	Sensor 2Ch setting value display (LGS2)
91
92	Sensor 3Ch setting value display (RGS1)
93
94	Sensor 4Ch setting value display (RGS2)
95
96	Sensor 5Ch setting value display (reserved)
97
98	Sensor 6Ch setting value display (reserved)
99
100	Sensor 7Ch setting value display (reserved)
101
102	Sensor 8Ch setting value display (reserved)
103
104	Sensor 1Ch sensing mode display (LGS1)										Monitoring of each sensor’s set sensing mode (response time) Separation value by sensing mode 1: H-SP (150 us) 2: FAST (500 μs) 4: STD (5 ms) 6: LONG (50 ms) 7: U-LG (100 ms) 8: HYPR (500 ms)
105
106	Sensor 2Ch sensing mode display (LGS2)
107
108	Sensor 3Ch sensing mode display (RGS1)
109
110	Sensor 4Ch sensing mode display (RGS2)
111
112	Sensor 5Ch sensing mode display (reserved) [Needs to extend the input area for sensor 5Ch or higher]
113
114	Sensor 6Ch sensing mode display (reserved) [Needs to extend the input area for sensor 6Ch or higher]
115
116	Sensor 7Ch sensing mode display (reserved) [Needs to extend the input area for sensor 7Ch or higher]
117
118	Sensor 8Ch sensing mode display (reserved) [Needs to extend the input area for sensor 8Ch or higher]
119

 

2.   Output Area (Robot Controller to Control PLC; Robot Controller → PLC)

Classification	Data Description									Remarks
Byte Address	Bit 1	Bit 2		Bit 3	Bit 4	Bit 5	Bit 6	Bit 7	Bit 7
0	Write flag	Not used								All-channel upper/lower temperature limit value write bit
1	Not used
2	Temperature 1Ch upper limit value input									Set by inputting the upper/lower temperature limit value of each channel How to set: Input a setting value in the input area of the temperature channel, and set the write bit to “True.” Ex.: If “12.3°C” is set as the upper limit value of temperature 1Ch, input “12.3” in the temperature 1Ch upper limit value input (“Byte 2–3”). Then, set the all-channel upper/lower limit value write bit (“Bit 1 of Byte 0”) to “True.”
3
4	Temperature 1Ch lower limit value input
5
6	Temperature 2Ch upper limit value input
7
8	Temperature 2Ch lower limit value input
9
10	Temperature 3Ch upper limit value input
11
12	Temperature 3Ch lower limit value input
13
14	Temperature 4Ch upper limit value input
15
16	Temperature 4Ch lower limit value input
17
18	Temperature 5Ch upper limit value input
19
20	Temperature 5Ch lower limit value input
21
22	Temperature 6Ch upper limit value input
23
24	Temperature 6Ch lower limit value input
25
26	Temperature 7Ch upper limit value input (reserved)
27
28	Temperature 7Ch lower limit value input (reserved)
29
30	Temperature 8Ch upper limit value input (reserved)
31
32	Temperature 8Ch lower limit value input (reserved)
33
34	Write flag		Not used							All-channel upper/lower flow limit value write bit
35	Not used
36	Flow 1Ch upper limit value input									Set by inputting the upper/lower flow limit value of each channel How to set: Input a setting value in the input area of the flow channel, and set the bit 1 of the upper/lower flow limit write bit (“Byte 34”) to “True.” Ex.: If “200 l/min” is set as the upper limit value of flow 1Ch, input “200” in the flow 1Ch upper limit value input (“Byte 36–37”). Then, set the all-channel upper flow limit value write bit (“Bit 1 of Byte 34”) to “True.”
37
38	Flow 1Ch lower limit value input
39
40	Flow 2Ch upper limit value input (reserved)
41
42	Flow 2Ch lower limit value input (reserved)
43
44	(Reserved)
45
46	(Reserved)
47
48	(Reserved)
49
50	(Reserved)
51
52	Write flag		Not used							Setting value (threshold) for all sensors; sensing mode write bit
53	Not used
54	Sensor 1Ch setting value input (LGS1)									Set by inputting the setting value (threshold) of each sensor How to set: Input a setting value in the input area of the sensor channel, and set the bit 1 of the setting value write bit (“Byte 52”) to “True.” Ex.: If the 1Ch (LGS1) setting value is set to “1234,” input “1234” in the sensor 1Ch setting value input (“Byte 54–55”). Then, set the all-sensor setting value write bit (“Bit 1 of Byte 52”) to “True.” Input range by sensing mode H-SP/FAST/STD: 0–4,000; LONG: 0–8,000; U-LG/HYPR: 0–9,999
55
56	Sensor 2Ch setting value input (LGS2)
57
58	Sensor 3Ch setting value input (RGS1)
59
60	Sensor 4Ch setting value input (RGS2)
61
62	Sensor 5Ch setting value input (reserved)
63
64	Sensor 6Ch setting value input (reserved)
65
66	Sensor 7Ch setting value input (reserved)
67
68	Sensor 8Ch setting value input (reserved)
69
70	(Reserved)
71
72	Sensor 1Ch sensing mode input (LGS1)									Set by inputting the sensing mode of each sensor How to set: Input a setting value in the input area of the sensor channel, and set the bit 1 of the sensing mode write bit (“Byte 52”) to “True.” Input value of sensing mode 1: H-SP; 2: FAST; 4: STD; 6: LONG; 7: U-LG; 8: HYPR Ex.: If the sensor 1Ch (LGS1) sensing mode is set to “H-SP,” input “1” in the sensor 1Ch sensing mode input (“Byte 72–73”). Then, set the all-channel sensing mode write bit (“Bit 1 of Byte 52”) to “True.”
73
74	Sensor 2Ch sensing mode input (LGS2)
75
76	Sensor 3Ch sensing mode input (RGS1)
77
78	Sensor 4Ch sensing mode input (RGS2)
79
80	Sensor 5Ch sensing mode input (reserved)
81
82	Sensor 6Ch sensing mode input (reserved)
83
84	Sensor 7Ch sensing mode input (reserved)
85
86	Sensor 8Ch sensing mode input (reserved)
87
88	(Reserved)
89
90	Quantity of temperature sensors installed									Input the quantity of installed temperature sensors Ex.: 3 channels used → “3”
91
From 92	(Reserved)									Available area in future update
To 119