6 ． EtherNet/IP Settings 6.2. Global variables The Controller treats the data in tag data links as global variables. The contents of global variable settings are shown below. ■Robot Controller input/output area ■DIGITAL OUTPUT Assignment to_Robot[4] ■SOFT SIGNAL Assignment from_Robot[3] Precautions for Correct Use If the data size of the tag data link for Robot Controller is an odd-numbered byte, use BYTE type to define, do not use BOOL type. Additional Information With Sysmac Studio, two methods can be used to specify an array for a data type. After specifying, (1) is converted to (2), and the data type is always displayed as (2).
(1)BOOL[16] / (2)ARRAY[0..15] OF BOOL In this document, the data type is simplified by displaying BOOL[16]. (The example above means a BOOL data type with sixteen array elements.) 11 Network Robot Controller Data size Name Data type publish data assignment (byte) to Robot BYTE[214] Output Input area 214 _ from Robot BYTE[284] Input Output area 284 Controller Robot Controller Global variable Array No.
Description to Robot _ [0] 4 bytes ･･･ [3] [4] DIGITAL OUTPUT 0001 to 0008 (8 points) [5] 209 bytes ･･･ [213] from Robot _ [0] 3 bytes ･･･ [2] [3] SOFT SIGNAL 2001 to 2004 (4 points) 4 bits [4] 280 bytes ･･･ [283] 7 6 5 4 3 2 1 0 0008 0007 0006 0005 0004 0003 0002 0001 7 6 5 4 3 2 1 0 2004 2003 2002 2001 4 bits