Bus Address Distribution

JAKAAbout 308 min

Bus Address Distribution

Modbus Address Distribution

	Type (for PLC)	Name (CAB1.0)	Name	Name (MiniCab)	Data Type	Function code	Description	Unit	Register Type
			(CAB2.1)
8	General Digital Input	DO1	DO1	DO1	BOOL	02			Discrete input is readable but not writable
9		DO2	DO2	DO2
10		DO3	DO3	DO3
11		DO4	DO4	DO4
…		…	…	…
135		DO128	DO128	DO128
136		-	CAB DI1	CAB DI1
…		-	…	…
		-
142		-	CAB DI7	CAB DI7
143		-	CAB DI8	-
…		-	…	-
		-		-
151		-	CAB DI16	-
152		TOOL DI1	TOOL DI1	TOOL DI1
153		TOOL DI2	TOOL DI2	TOOL DI2
40	General Digital Output	DI1	DI1	DI1	BOOL	01/05/15			Coil
41		DI2	DI2	DI2
42		DI3	DI3	DI3
43		DI4	DI4	DI4
…		…	…	…
167		DI128	DI128	DI128
168		-	CAB DO1	CAB DO1
…		-	…	…
		-
174		-	CAB DO7	CAB DO7
175		-	CAB DO8	-
…		-	…	-
		-		-
183		-	CAB DO16	-
184		TOOL DO1	TOOL DO1	TOOL DO1
185		TOOL DO2	TOOL DO2	TOOL DO2
96	Analog Input	AO01	AO01	AO01	UINT16	04			Input register Readable but not writable
97		AO02	AO02	AO02
98		AO03	AO03	AO03
99		AO04	AO04	AO04
…		…	…	…
111		AO16	AO16	AO16
112		AO17	AO17	AO17	INT16
113		AO18	AO18	AO18
114		AO19	AO19	AO19
115		AO20	AO20	AO20
…		…	…	…
127		AO32	AO32	AO32
128		AO33	AO33	AO33	FLOAT32 (big-endian display)
129
130		AO34	AO34	AO34
131
…		…	…	…
190		AO64	AO64	AO64
191
192		-	CAB AI1	-	UINT16
193		-	CAB AI2	-
194		TOOL AI1	TOOL AI1	TOOL AI1
195		TOOL AI2	TOOL AI2	TOOL AI2
100	Analog Output	AI01	AI01	AI01	UINT16	03/06/16			Maintenance registers Readable and writable
101		AI02	AI02	AI02
102		AI03	AI03	AI03
103		AI04	AI04	AI04
…		…	…	…
115		AI16	AI16	AI16
116		AI17	AI17	AI18	INT16
117		AI18	AI18	AI18
118		AI19	AI19	AI19
119		AI20	AI20	AI20
…		…	…	…
131		AI32	AI32	AI32
132		AI33	AI33	AI33	FLOAT32 (big-endian display)
133
134		AI34	AI34	AI34
135
…		…	…	…
194		AI64	AI64	AI64
195
196		-	CAB AO1	-	UINT16
197		-	CAB AO2	-
Robot Data Related (Big-endian Display)
300	Robot Data	Servo Version No.:			INT32	04			Input register Readable but not writable
302		Robot Serial No.
304		Joint 1 Voltage			Float32		Voltage for each joint	V
306		Joint 2 Voltage
308		Joint 3 Voltage
310		Joint 4 Voltage
312		Joint 5 Voltage
314		Joint 6 Voltage
316		Joint 1 Temperature			Float32		Temperature of each joint	°C
318		Joint 2 Temperature
320		Joint 3 Temperature
322		Joint 4 Temperature
324		Joint 5 Temperature
326		Joint 6 Temperature
328		Joint 1 servo error code			INT32		Servo error code of each joint
330		Joint 2 servo error code
332		Joint 3 servo error code
334		Joint 4 servo error code
336		Joint 5 servo error code
338		Joint 6 servo error code
340		Joint 1 Error Status			UINT16		Current servo error status 0 indicates no error 1 indicates errors
341		Joint 2 Error Status
342		Joint 3 Error Status
343		Joint 4 Error Status
344		Joint 5 Error Status
345		Joint 6 Error Status
346		Joint 1 Enabled status			UINT16		Current servo enabling status 0 indicates the disabled status 1 indicates the enabled status
347		Joint 2 Enabled status
348		Joint 3 Enabled status
349		Joint 4 Enabled status
350		Joint 5 Enabled status
351		Joint 6 Enabled status
352		Joint 1 collision status			UINT16		Current servo collision detection status 0 indicates no impact 1 indicates impact
353		Joint 2 collision status
354		Joint 3 collision status
355		Joint 4 collision status
356		Joint 5 collision status
357		Joint 6 collision status
358		Joint 1 Current			Float32		Current of each joint	A
360		Joint 2 Current
362		Joint 3 Current
364		Joint 4 Current
366		Joint 5 Current
368		Joint 6 Current
370		Sensor torque X			Float32		Torque of force control sensor	N
372		Sensor torque Y
374		Sensor torque Z
376		Sensor torque RX						Nm
378		sensor torque RY
380		Sensor torque RZ
382		Joint 1 Position			Float32		Position of each joint	°
384		Joint 2 Position
386		Joint 3 Position
388		Joint 4 Position
390		Joint 5 Position
392		Joint 6 Position
394		Joint 1 Speed			Float32		Speed of each joint	°/s
396		Joint 2 Speed
398		Joint 3 Speed
400		Joint 4 Speed
402		Joint 5 Speed
404		Joint 6 Speed
406		TCP Position X			Float32		TCP	mm
408		TCP Position Y
410	TCP Position Z
412	TCP Position RX			°
414	TCP Position RY
416	TCP Position RZ
418	TCP Speed X			Float32	TCP Speed	mm/s
420	TCP Speed Y
422	TCP Speed Z
424	TCP Speed RX					°/s
426	TCP Speed RY
428	TCP Speed RZ
430	TCP_OFFSET_X			Float32	Tool coordinate system	mm
432	TCP_OFFSET_Y
434	TCP_OFFSET_Z
436	TCP_OFFSET_RX			Float32	Tool coordinate system	°
438	TCP_OFFSET_RY
440	TCP_OFFSET_RZ
442	BASE_OFFSET_X			Float32	User coordinate system	mm
444	BASE_OFFSET_Y
446	BASE_OFFSET_Z
448	BASE_OFFSET_RX					°
450	BASE_OFFSET_RY
452	BASE_OFFSET_RZ
454	COLLISION_PROTECTIVE_STOP			UINT16	Robot collision: 1 No collision: 0

455	EMERGENCY_STOP			UINT16	Emergency stop
456	POWER_ON			UINT16	Power on
457	ROBOT_ENABLE			UINT16	Enabled
458	ON_SOFT_LIMIT			UINT16	soft limit
459	INPOS			UINT16	Reach the target position
460	Movement mode			UINT16	Servo position mode: 4 Admittance control mode: 2 Freedrive mode: 1 Other modes (Jog, etc.): 0



461	Percentage Mode Level			UINT16	Level 1 Percentage: 1 Level 2 Percentage: 2 Protective Stop: 3
462	Speed Magnification			FLOAT32	Speed Magnification
464	MOTION_ERRCODE			INT32	Error Code
466	CAB_TEMPERATURE			FLOAT32	Temperature of the control cabinet
468	CAB_AVERAGEPOWER				Power of the control cabinet
470	CAB_AVERAGECURRENT				Current of the control cabinet
472	UHI_PULES			FLOAT32	Conveyor pulse
474	UHI_SPEED				Movement speed of conveyor belts
476	UHI_DIR			UINT16	Movement direction of conveyor belts
477	UHI_ORIGIN_PULES			INT32	Original Pulse of conveyor belt
479	ERROR_TRIGGERED			BOOL	Robot error: 1 Robot did not report an error: 0
480	TCP_LINEAR_SPEED			FLOAT32	TCP linear speed	mm/s
482	CHECKSUM			UINT16	Robot checksum
484	TCP_ANGULAR_SPEED			FLOAT32	TCP angular speed	°/s
486	REDUCE_MODE				Robot not in reduce mode: 0 Robot in reduce mode 1
487	Reserved				Reserved
…	Reserved				Reserved
555	Reserved				Reserved

Profinet Address Distribution

Description

Symbol description：

Each data module is marked with data transmission direction. R - > P indicates that the robot sends data to the PLC, and P - > R indicates that the PLC sends data to the robot.
DI represents digital input, DO represents digital output, AI represents analog input and AO represents analog output.

Table description：

Row numbers represent bits, a total of 32 bits, 4 bytes, from 0 to 31 bits, and column numbers represent the total bits used.
Each row has data type, number of digits and unit.
In the data group section, the relevant data is grouped into a group, including the name of the data group, the group number, and the number of bytes occupied.
The second table on the right shows the PLC settings, including the slot, subslot number, and starting position corresponding to each data group.

Robot2PLC

Transmission Type R->P （Robot->PLC）			PLC Settings
Bit	Data	Data Group	Slot	Subslot	I - Input Address
0	Robot serial number (int32)	Robot status, safety settings 1_R->P_Robot_Safety 36 Bytes	1	1	0
32	Servo version number (int32)				4
64	CAB_AVERAGECURRENT (float) [A]				8
96	CAB_AVERAGEPOWER (float) [W]				12
128	CAB_TEMPERATURE (float) [℃]				16
160	POWER_ON				20.0
160+1	ROBOT_ENABLE				20.1
160+2	Reserved				20.2
192	MOTION_ERRCODE (int32)				24
224	Motion Model （uint8）				28
224+8	Percentage Mode Level （uint8）				29
224+16	EMERGENCY_STOP				30.0
224+17	COLLISION_PROTECTIVE_STOP				30.1
224+18	ON_SOFT_LIMIT				30.2
224+19	REDUCE_MODE				30.3
224+20	Reserved				30.4
256	CHECKSUM（int32）				32
288	Joint 1 Voltage（float）[V]	Joint 2_R->P_Joints 172+48 Bytes	2	1	36
320	Joint 2 Voltage（float）[V]				40
352	Joint 3 Voltage（float）[V]				44
384	Joint 4 Voltage（float）[V]				48
416	Joint 5 Voltage（float）[V]				52
448	Joint 6 Voltage（float）[V]				56
480	Joint 1 Current（float）[A]				60
512	Joint 2 Current（float）[A]				64
544	Joint 3 Current（float）[A]				68
576	Joint 4 Current（float）[A]				72
608	Joint 5 Current（float）[A]				76
640	Joint 6 Current（float）[A]				80
672	Joint 1 Position（float）[°]				84
704	Joint 2 Position（float）[°]				88
736	Joint 3 Position（float）[°]				92
768	Joint 4 Position（float）[°]				96
800	Joint 5 Position（float）[°]				100
832	Joint 6 Position（float）[°]				104
864	Joint 1 Velocity（float）[°/s]				108
896	Joint 2 Velocity（float）[°/s]				112
928	Joint 3 Velocity（float）[°/s]				116
960	Joint 4 Velocity（float）[°/s]				120
992	Joint 5 Velocity（float）[°/s]				124
1024	Joint 6 Velocity（float）[°/s]				128
1088	Joint 1 Temperature（float）[℃]				132
1120	Joint 2 Temperature（float）[℃]				136
1152	Joint 3 Temperature（float）[℃]				140
1184	Joint 4 Temperature（float）[℃]				144
1216	Joint 5 Temperature（float）[℃]				148
1248	Joint 6 Temperature（float）[℃]				152
1280	Joint 1 Torque（float）[Nm]				156
1312	Joint 2 Torque（float）[Nm]				160
1344	Joint 3 Torque（float）[Nm]				164
1376	Joint 4 Torque（float）[Nm]				168
1408	Joint 5 Torque（float）[Nm]				172
1440	Joint 6 Torque（float）[Nm]				176
1472	Joint 1 Servo Error Code（int32）				180
1504	Joint 2 Servo Error Code（int32）				184
1536	Joint 3 Servo Error Code（int32）				188
1568	Joint 4 Servo Error Code（int32）				192
1600	Joint 5 Servo Error Code（int32）				196
1632	Joint 6 Servo Error Code（int32）				200
1664	Joint Error Status(0:No Error，1：Error) (uint8)				204
1664+8	Joint Enable State(0:Disable，1：Enable) (uint8)				205
1664+16	Joint Collision Status(0:No Collision，1：Collision) (uint8)				206
1664+24	Reserved				207
1696	Reserved （float） 48 Bytes				208
2048	TCP Position X（float）[mm]	TCP and BASE 3_R->P_TCP_BASE 104+40 Bytes	3	1	256
2080	TCP Position Y（float）[mm]				260
2112	TCP Position Z（float）[mm]				264
2144	TCP Position RX（float）[°]				268
2176	TCP Position RY（float）[°]				272
2208	TCP Position RZ（float）[°]				276
2240	TCP Velocity X（float）[mm/s]				280
2272	TCP Velocity Y（float）[mm/s]				284
2304	TCP Velocity Z（float）[mm/s]				288
2336	TCP Velocity RX（float）[°/s]				292
2368	TCP Velocity RY（float）[°/s]				296
2400	TCP Velocity RZ（float）[°/s]				300
2432	TCP_OFFSET_X（float）[mm]				304
2464	TCP_OFFSET_Y（float）[mm]				308
2496	TCP_OFFSET_Z（float）[mm]				312
2528	TCP_OFFSET_RX（float）[°]				316
2560	TCP_OFFSET_RY（float）[°]				320
2592	TCP_OFFSET_RZ（float）[°]				324
2624	BASE_OFFSET_X（float）[mm]				328
2656	BASE_OFFSET_Y（float）[mm]				332
2688	BASE_OFFSET_Z（float）[mm]				336
2720	BASE_OFFSET_RX（float）[°]				340
2752	BASE_OFFSET_RY（float）[°]				344
2784	BASE_OFFSET_RZ（float）[°]				348
2816	TCP Linear Velocity（float）[mm/s]				352
2848	TCP Angular Velocity（float）[°/s]				356
2880	Reserved 40 Bytes				360
3200	Boolean Registers 0-31	Boolean Output Registers DO 0~63 4_R->P_DO 8+4 Bytes	4	1	400
3232	Boolean Registers 32-63				404
3264	Reserved （4 Bytes）				408
3296	Integer Register 0	Integer Output Registers AO 0~31 5_R->P_AO_INT 128 Bytes	5	1	412
3328	Integer Register 1				416
3360	Integer Register 2				420
3392	Integer Register 3				424
3424	Integer Register 4				428
3456	Integer Register 5				432
3488	Integer Register 6				436
3520	Integer Register 7				440
3552	Integer Register 8				444
3584	Integer Register 9				448
3616	Integer Register 10				452
3648	Integer Register 11				456
3680	Integer Register 12				460
3712	Integer Register 13				464
3744	Integer Register 14				468
3776	Integer Register 15				472
3808	Integer Register 16				476
3840	Integer Register 17				480
3872	Integer Register 18				484
3904	Integer Register 19				488
3936	Integer Register 20				492
3968	Integer Register 21				496
4000	Integer Register 22				500
4032	Integer Register 23				504
4064	Integer Register 24				508
4096	Integer Register 25				512
4128	Integer Register 26				516
4160	Integer Register 27				520
4192	Integer Register 28				524
4224	Integer Register 29				528
4256	Integer Register 30				532
4288	Integer Register 31				536
4320	Float Register 0	Float Output Registers AO 0~31 6_R->P_AO_FLOAT 128 Bytes	6	1	540
4352	Float Register 1				544
4384	Float Register 2				548
4416	Float Register 3				552
4448	Float Register 4				556
4480	Float Register 5				560
4512	Float Register 6				564
4544	Float Register 7				568
4576	Float Register 8				572
4608	Float Register 9				576
4640	Float Register 10				580
4672	Float Register 11				584
4704	Float Register 12				588
4736	Float Register 13				592
4768	Float Register 14				596
4800	Float Register 15				600
4832	Float Register 16				604
4864	Float Register 17				608
4896	Float Register 18				612
4928	Float Register 19				616
4960	Float Register 20				620
4992	Float Register 21				624
5024	Float Register 22				628
5056	Float Register 23				632
5088	Float Register 24				636
5120	Float Register 25				640
5152	Float Register 26				644
5184	Float Register 27				648
5216	Float Register 28				652
5248	Float Register 29				656
5280	Float Register 30				660
5312	Float Register 31				664

PLC2Robot

Transmission Type P->R（PLC->Robot）			PLC Settings
Bit	Data	Data Group	Slot	Subslot	Q - Output Address
0	Boolean Registers 0-31	Boolean Input Registers DI 0~64 7_P->R_DI 8+4 Bytes	7	1	0
32	Boolean Registers 32-63				4
64	Reserved （4 Bytes）				8
96	Integer Register 0	Integer Input Registers AI 0~31 8_P->R_AI_INT 128 Bytes	8	1	12
128	Integer Register 1				16
160	Integer Register 2				20
192	Integer Register 3				24
224	Integer Register 4				28
256	Integer Register 5				32
288	Integer Register 6				36
320	Integer Register 7				40
352	Integer Register 8				44
384	Integer Register 9				48
416	Integer Register 10				52
448	Integer Register 11				56
480	Integer Register 12				60
512	Integer Register 13				64
544	Integer Register 14				68
576	Integer Register 15				72
608	Integer Register 16				76
640	Integer Register 17				80
672	Integer Register 18				84
704	Integer Register 19				88
736	Integer Register 20				92
768	Integer Register 21				96
800	Integer Register 22				100
832	Integer Register 23				104
864	Integer Register 24				108
896	Integer Register 25				112
928	Integer Register 26				116
960	Integer Register 27				120
992	Integer Register 28				124
1024	Integer Register 29				128
1056	Integer Register 30				132
1088	Integer Register 31				136
1120	Float Register 0	Float Input Registers AI 0~31 9_P->R_AI_FLOAT 128 Bytes	9	1	140
1152	Float Register 1				144
1184	Float Register 2				148
1216	Float Register 3				152
1248	Float Register 4				156
1280	Float Register 5				160
1312	Float Register 6				164
1344	Float Register 7				168
1376	Float Register 8				172
1408	Float Register 9				176
1440	Float Register 10				180
1472	Float Register 11				184
1504	Float Register 12				188
1536	Float Register 13				192
1568	Float Register 14				196
1600	Float Register 15				200
1632	Float Register 16				204
1664	Float Register 17				208
1696	Float Register 18				212
1728	Float Register 19				216
1760	Float Register 20				220
1792	Float Register 21				224
1824	Float Register 22				228
1856	Float Register 23				232
1888	Float Register 24				236
1920	Float Register 25				240
1952	Float Register 26				244
1984	Float Register 27				248
2016	Float Register 28				252
2048	Float Register 29				256
2080	Float Register 30				260
2112	Float Register 31				264

Script Function

Register	Data Type	Script function	Index (CAB 1.0 )	Index (CAB2.1)	Index (Mini CAB)
DO 0-63	boolean	get_digital_output(type, index) set_digital_output(type, index, tarState, immed)	136 - 199	144 - 207	135 - 198
AO 0-31	int	get_analog_output( type, index) set_analog_output(type, index, tarValue, immed)	64 - 95	66, 97	65 - 96
AO 32-63	float	get_analog_output( type, index) set_analog_output(type, index, tarValue, immed)	96 - 127	98, 129	97 - 128

Register	Data Type	Script function	Index (CAB 1.0 )	Index (CAB2.1)	Index (Mini CAB)
DI 0-63	boolean	get_digital_input( type, index)	136 - 199	144 - 207	135 - 198
AI 0-31	int	get_analog_input( type, index)	72 - 103	66 - 97	64 - 95
AI 32-63	float	get_analog_input( type, index)	104 - 135	98 - 129	96 - 127

EtherNet/IP Address Distribution

Description

Symbol description：

Each data module is marked with data transmission direction. R - > P indicates that the robot sends data to the PLC, and P - > R indicates that the PLC sends data to the robot.
DI represents digital input, DO represents digital output, AI represents analog input and AO represents analog output.

Table description：

Row numbers represent bits, a total of 32 bits, 4 bytes, from 0 to 31 bits, and column numbers represent the total bits used.
Each row has data type, number of digits and unit.
In the data group section, the relevant data is grouped into a group, including the name of the data group, the group number, and the number of bytes occupied.
The second table on the right shows the PLC settings, including the slot, subslot number, and starting position corresponding to each data group.

Robot2PLC

	Transmission Type R->P （Robot->PLC）		PLC Settings Total： 492 Bytes
Bit	Data	Data Group	I - Input Address
0	Robot serial number (int32)	Robot status, safety settings 1_R->P_Robot_Safety 20 Bytes	0
32	Servo version number (int32)		4
64	POWER_ON		8.0
64+1	ROBOT_ENABLE		8.1
64+2	Reserved		8.2
96	MOTION_ERRCODE (int32)		12
128	Motion Model （uint8）		16
128+8	Percentage mode level （uint8）		17
128+16	EMERGENCY_STOP		18.0
128+17	COLLISION_PROTECTIVE_STOP		18.1
128+18	ON_SOFT_LIMIT		18.2
128+19	REDUCE_MODE		18.3
128+20	Reserved		18.4
160	Joint 1 Current（float）[A]	Joint 2_R->P_Joints 128 Bytes + 16 Bytes	20
192	Joint 2 Current（float）[A]		24
224	Joint 3 Current（float）[A]		28
256	Joint 4 Current（float）[A]		32
288	Joint 5 Current（float）[A]		36
320	Joint 6 Current（float）[A]		40
352	Joint 1 Position（float）[°]		44
384	Joint 2 Position（float）[°]		48
416	Joint 3 Position（float）[°]		52
448	Joint 4 Position（float）[°]		56
480	Joint 5 Position（float）[°]		60
512	Joint 6 Position（float）[°]		64
544	Joint 1 Velocity（float）[°/s]		68
576	Joint 2 Velocity（float）[°/s]		72
608	Joint 3 Velocity（float）[°/s]		76
640	Joint 4 Velocity（float）[°/s]		80
672	Joint 5 Velocity（float）[°/s]		84
704	Joint 6 Velocity（float）[°/s]		88
736	Joint 1 Torque（float）[Nm]		92
768	Joint 2 Torque（float）[Nm]		96
800	Joint 3 Torque（float）[Nm]		100
832	Joint 4 Torque（float）[Nm]		104
864	Joint 5 Torque（float）[Nm]		108
896	Joint 6 Torque（float）[Nm]		112
928	Joint 1 Servo Error Code（int32）		116
960	Joint 2 Servo Error Code（int32）		120
992	Joint 3 Servo Error Code（int32）		124
1024	Joint 4 Servo Error Code（int32）		128
1056	Joint 5 Servo Error Code（int32）		132
1088	Joint 6 Servo Error Code（int32）		136
1120	Joint Error Status(0:No Error，1：Error) (uint8)		140
1120+8	Joint Enable State(0:Disable，1：Enable) (uint8)		141
1120+16	Joint Collision Status(0:No Collision，1：Collision) (uint8)		142
1120+24	Reserved		143
1152	CHECKSUM（int32）		144
1184	reserved 16 Bytes		148
1312	Sensor Torque x（float）[Nm]	TCP 3_R->P_TCP 80 Bytes + 44 Bytes	164
1344	Sensor Torque y（float）[Nm]		168
1376	Sensor Torque z（float）[Nm]		172
1408	Sensor Torque rx（float）[Nm]		176
1440	Sensor Torque ry（float）[Nm]		180
1472	Sensor Torque rz（float）[Nm]		184
1504	TCP Position X（float）[mm]		188
1536	TCP Position Y（float）[mm]		192
1568	TCP Position Z（float）[mm]		196
1600	TCP Position RX（float）[°]		200
1632	TCP Position RY（float）[°]		204
1664	TCP Position RZ（float）[°]		208
1696	TCP_OFFSET_X（float）[mm]		212
1728	TCP_OFFSET_Y（float）[mm]		216
1760	TCP_OFFSET_Z（float）[mm]		220
1792	TCP_OFFSET_RX（float）[°]		224
1824	TCP_OFFSET_RY（float）[°]		228
1856	TCP_OFFSET_RZ（float）[°]		232
1888	TCP Linear Velocity（float）[mm/s]		236
1920	TCP Angular Velocity（float）[°/s]		240
1952	reserved 44 Bytes		244
2304	Boolean Registers 0-31	Boolean Output Registers DO 0~63 4_R->P_DO 8+4 Bytes	288
2336	Boolean Registers 32-63		292
2368	Reserved （4 Bytes）		296
2400	Integer Register 0	Integer Output Registers AO 0~23 5_R->P_AO_INT 96 Bytes	300
2432	Integer Register 1		304
2464	Integer Register 2		308
2496	Integer Register 3		312
2528	Integer Register 4		316
2560	Integer Register 5		320
2592	Integer Register 6		324
2624	Integer Register 7		328
2656	Integer Register 8		332
2688	Integer Register 9		336
2720	Integer Register 10		340
2752	Integer Register 11		344
2784	Integer Register 12		348
2816	Integer Register 13		352
2848	Integer Register 14		356
2880	Integer Register 15		360
2912	Integer Register 16		364
2944	Integer Register 17		368
2976	Integer Register 18		372
3008	Integer Register 19		376
3040	Integer Register 20		380
3072	Integer Register 21		384
3104	Integer Register 22		388
3136	Integer Register 23		392
3168	Float Register 0	Float Output Registers AO 0~23 6_R->P_AO_FLOAT 96 Bytes	396
3200	Float Register 1		400
3232	Float Register 2		404
3264	Float Register 3		408
3296	Float Register 4		412
3328	Float Register 5		416
3360	Float Register 6		420
3392	Float Register 7		424
3424	Float Register 8		428
3456	Float Register 9		432
3488	Float Register 10		436
3520	Float Register 11		440
3552	Float Register 12		444
3584	Float Register 13		448
3616	Float Register 14		452
3648	Float Register 15		456
3680	Float Register 16		460
3712	Float Register 17		464
3744	Float Register 18		468
3776	Float Register 19		472
3808	Float Register 20		476
3840	Float Register 21		480
3872	Float Register 22		484
3904	Float Register 23		488

PLC2Robot

Transmission Type P->R（PLC->Robot）			PLC Settings Total： 492 Bytes
Bit	Data	Data Group	O - Output Address
0	Boolean Registers 0-31	Boolean Input Registers DI 0~63 7_P->R_DI 8+4 Bytes	0
32	Boolean Registers 32-63		4
64	Reserved （4 Bytes）		8
96	Integer Register 0	Integer Input Registers AI 0~23 8_P->R_AI_INT 96 Bytes	12
128	Integer Register 1		16
160	Integer Register 2		20
192	Integer Register 3		24
224	Integer Register 4		28
256	Integer Register 5		32
288	Integer Register 6		36
320	Integer Register 7		40
352	Integer Register 8		44
384	Integer Register 9		48
416	Integer Register 10		52
448	Integer Register 11		56
480	Integer Register 12		60
512	Integer Register 13		64
544	Integer Register 14		68
576	Integer Register 15		72
608	Integer Register 16		76
640	Integer Register 17		80
672	Integer Register 18		84
704	Integer Register 19		88
736	Integer Register 20		92
768	Integer Register 21		96
800	Integer Register 22		100
832	Integer Register 23		104
864	Float Register 0	Float Input Registers AI 0~23 9_P->R_AI_FLOAT 96 Bytes	108
896	Float Register 1		112
928	Float Register 2		116
960	Float Register 3		120
992	Float Register 4		124
1024	Float Register 5		128
1056	Float Register 6		132
1088	Float Register 7		136
1120	Float Register 8		140
1152	Float Register 9		144
1184	Float Register 10		148
1216	Float Register 11		152
1248	Float Register 12		156
1280	Float Register 13		160
1312	Float Register 14		164
1344	Float Register 15		168
1376	Float Register 16		172
1408	Float Register 17		176
1440	Float Register 18		180
1472	Float Register 19		184
1504	Float Register 20		188
1536	Float Register 21		192
1568	Float Register 22		196
1600	Float Register 23		200
1632	Reserved	Reserved 288 Bytes	204
…			…






…			…
3904			488

Script Function

Register	Data Type	Script function	Index
DO 0-63	boolean	get_digital_output(type, index) set_digital_output(type, index, tarState, immed)	0-63
AO 0-23	int	get_analog_output( type, index) set_analog_output(type, index, tarValue, immed)	0-23
AO 24-47	float	get_analog_output( type, index) set_analog_output(type, index, tarValue, immed)	24-47

Register	Data Type	Script function	Index
DI 0-63	boolean	get_digital_input( type, index)	0-63
AI 0-23	int	get_analog_input( type, index)	0-23
AI 24-47	float	get_analog_input( type, index)	24-47