RB Ethernet Data Sheet Map

1. Input Data

Robot -> PLC(IN) I Data Map
I.Data(Byte)	Function	EDS NAME	Data Type
0	BOX_DIGITAL_IN_0~15	UINT	Unsigned INT
1
2	BOX_DIGITAL_OUT_0~15
3
4	BOX_ANALOG_IN_0 * 1000
5
6	BOX_ANALOG_IN_1 * 1000
7
8	BOX_ANALOG_IN_2 * 1000
9
10	BOX_ANALOG_IN_3 * 1000
11
12	BOX_ANALOG_OUT_0 * 1000
13
14	BOX_ANALOG_OUT_1 * 1000
15
16	BOX_ANALOG_OUT_2 * 1000
17
18	BOX_ANALOG_OUT_3 * 1000
19
20	EX_DIGITAL_IN_0~15
21
22	EX_DIGITAL_OUT_0~15
23
24	EX_ANALOG_IN_0 * 1000
25
26	EX_ANALOG_IN_1 * 1000
27
28	EX_ANALOG_IN_2 * 1000
29
30	EX_ANALOG_IN_3 * 1000
31
32	EX_ANALOG_OUT_0 * 1000
33
34	EX_ANALOG_OUT_1 * 1000
35
36	EX_ANALOG_OUT_2 * 1000
37
38	EX_ANALOG_OUT_3 * 1000
39
40	TOOL_VOLTAGE	USINT	Unsigned Small INT
41	TOOL_DIGITAL_IN_0~5
42	TOOL_DIGITAL_OUT_0~1
43	STATE_IS_ROBOT_ACTIVATED
44	STATE_IS_REAL_MODE
45	STATE_IS_COLL_DETECTED
46	STATE_IS_ARM_POWER_ENGAGED
47	STATE_IS_DIRECT_TEACHING_MODE
48	STATE_IS_ROBOT_MOVING
49	STATE_IS_PAUSE_STATE
50	STATE_IS_TP_CONNECTED
51	STATE_IS_PROGRAM_RUN
52	STATE_IS_NOARC_ON
53	STATE_IS_EMG_BTN_RELEASED
54	STATE_IS_FIRST_PROG_RUN
55	Robot_Speed_Bar
56	Robot_J0_CUR * 100	SINT	Signed INT
57
58	Robot_J1_CUR * 100
59
60	Robot_J2_CUR * 100
61
62	Robot_J3_CUR * 100
63
64	Robot_J4_CUR * 100
65
66	Robot_J5_CUR * 100
67
68	Robot_J0_TEMP * 100
69
70	Robot_J1_TEMP * 100
71
72	Robot_J2_TEMP * 100
73
74	Robot_J3_TEMP * 100
75
76	Robot_J4_TEMP * 100
77
78	Robot_J5_TEMP * 100
79
80	USER_SINT_R2P_0
81
82	USER_SINT_R2P_1
83
84	USER_SINT_R2P_2
85
86	USER_SINT_R2P_3
87
88	USER_SINT_R2P_4
89
90	USER_SINT_R2P_5
91
92	USER_SINT_R2P_6
93
94	USER_SINT_R2P_7
95
96	USER_SINT_R2P_8
97
98	USER_SINT_R2P_9
99
100	USER_SINT_R2P_10
101
102	USER_SINT_R2P_11
103
104	USER_SINT_R2P_12
105
106	USER_SINT_R2P_13
107
108	USER_SINT_R2P_14
109
110	USER_SINT_R2P_15
111
112	USER_SINT_R2P_16
113
114	USER_SINT_R2P_17
115
116	USER_SINT_R2P_18
117
118	USER_SINT_R2P_19
119
120	CB_SOFT_VERSION	DINT	Double Signed INT
121
122
123
124	CB_ROBOT_TYPE_CODE
125
126
127
128	Robot_X_REF	REAL	Float
129
130
131
132	Robot_Y_REF
133
134
135
136	Robot_Z_REF
137
138
139
140	Robot_RX_REF
141
142
143
144	Robot_RY_REF
145
146
147
148	Robot_RZ_REF
149
150
151
152	Robot_J0_REF
153
154
155
156	Robot_J1_REF
157
158
159
160	Robot_J2_REF
161
162
163
164	Robot_J3_REF
165
166
167
168	Robot_J4_REF
169
170
171
172	Robot_J5_REF
173
174
175
176	Robot_TCP_VEL
177
178
179
180	USER_REAL_R2P_0
181
182
183
184	USER_REAL_R2P_1
185
186
187
188	USER_REAL_R2P_2
189
190
191
192	USER_REAL_R2P_3
193
194
195
196	USER_REAL_R2P_4
197
198
199
200	USER_REAL_R2P_5
201
202
203
204	USER_REAL_R2P_6
205
206
207
208	USER_REAL_R2P_7
209
210
211
212	USER_REAL_R2P_8
213
214
215
216	USER_REAL_R2P_9
217
218
219
220	USER_REAL_R2P_10
221
222
223
224	USER_REAL_R2P_11
225
226
227
228	USER_REAL_R2P_12
229
230
231
232	USER_REAL_R2P_13
233
234
235
236	USER_REAL_R2P_14
237
238
239
240	USER_REAL_R2P_15
241
242
243
244	USER_REAL_R2P_16
245
246
247
248	USER_REAL_R2P_17
249
250
251
252	USER_REAL_R2P_18
253
254
255
256	USER_REAL_R2P_19
257
258
259

2. Output Data

PLC -> Robot(OUT) O Data Map
O.Data(Byte)	Function	EDS NAME	Data Type
0	BOX_DIGITAL_OUT_MASK_0~15	UINT	Unsigned INT
1
2	BOX_DIGITAL_OUT_0~15
3
4	BOX_ANALOG_OUT_0_MASK
5
6	BOX_ANALOG_OUT_1_MASK
7
8	BOX_ANALOG_OUT_2_MASK
9
10	BOX_ANALOG_OUT_3_MASK
11
12	BOX_ANALOG_OUT_0 * 1000
13
14	BOX_ANALOG_OUT_1 * 1000
15
16	BOX_ANALOG_OUT_2 * 1000
17
18	BOX_ANALOG_OUT_3 * 1000
19
20	EX_DIGITAL_OUT_MASK_0~15
21
22	EX_DIGITAL_OUT_0~15
23
24	EX_ANALOG_OUT_0_MASK
25
26	EX_ANALOG_OUT_1_MASK
27
28	EX_ANALOG_OUT_2_MASK
29
30	EX_ANALOG_OUT_3_MASK
31
32	EX_ANALOG_OUT_0 * 1000
33
34	EX_ANALOG_OUT_1 * 1000
35
36	EX_ANALOG_OUT_2 * 1000
37
38	EX_ANALOG_OUT_3 * 1000
39
40	CTRL_START_PROG_ONCE	USINT	Unsigned Small INT
41	CTRL_START_PROG_REPEAT
42	CTRL_PAUSE_PROG
43	CTRL_STOP_PROG
44	CTRL_RESUME_PAUSE
45	CTRL_RESUME_COLLISION
46	CTRL_LOAD_DEFAULT_PROG
47	CTRL_ARM_ACTIVATION
48	CTRL_CHANGE_TO_REAL
49	CTRL_ARM_POWER_OFF
50	CTRL_DUMMY_1
51	CTRL_DUMMY_2
52	USER_SINT_P2R_0	SINT	Signed INT
53
54	USER_SINT_P2R_1
55
56	USER_SINT_P2R_2
57
58	USER_SINT_P2R_3
59
60	USER_SINT_P2R_4
61
62	USER_SINT_P2R_5
63
64	USER_SINT_P2R_6
65
66	USER_SINT_P2R_7
67
68	USER_SINT_P2R_8
69
70	USER_SINT_P2R_9
71
72	USER_SINT_P2R_10
73
74	USER_SINT_P2R_11
75
76	USER_SINT_P2R_12
77
78	USER_SINT_P2R_13
79
80	USER_SINT_P2R_14
81
82	USER_SINT_P2R_15
83
84	USER_SINT_P2R_16
85
86	USER_SINT_P2R_17
87
88	USER_SINT_P2R_18
89
90	USER_SINT_P2R_19
91
92	USER_REAL_P2R_0	REAL	Float
93
94
95
96	USER_REAL_P2R_1
97
98
99
100	USER_REAL_P2R_2
101
102
103
104	USER_REAL_P2R_3
105
106
107
108	USER_REAL_P2R_4
109
110
111
112	USER_REAL_P2R_5
113
114
115
116	USER_REAL_P2R_6
117
118
119
120	USER_REAL_P2R_7
121
122
123
124	USER_REAL_P2R_8
125
126
127
128	USER_REAL_P2R_9
129
130
131
132	USER_REAL_P2R_10
133
134
135
136	USER_REAL_P2R_11
137
138
139
140	USER_REAL_P2R_12
141
142
143
144	USER_REAL_P2R_13
145
146
147
148	USER_REAL_P2R_14
149
150
151
152	USER_REAL_P2R_15
153
154
155
156	USER_REAL_P2R_16
157
158
159
160	USER_REAL_P2R_17
161
162
163
164	USER_REAL_P2R_18
165
166
167
168	USER_REAL_P2R_19
169
170
171