Additional notes of correspondence between the rack number and the I/O device, additional items of conversion of
analog I/O
[Link] of applied technical documents
FANUC Robot series R-30iB/ R-30iB Mate CONTROLLER OPERATOR'S MANUAL
Name
(BASIC OPERATION)
[Link]./Ed. B-83284EN/05
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1. Correspondence between the rack number and the I/O device
Basic Add Immediately
2. Conversion of analog I/O
Optional
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Unit
Maintenance
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Notice
Correction
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Additional notes of correspondence between the
Title rack number and the I/O device, additional
items of conversion of analog I/O
Draw
No. B-83284EN/05-13
1 2017.8.30 [Link] Initial release
Ed. Date Design Description FANUC CORPORATION 1/5
Date 2017.8.30 Desig. [Link] Apprv.
Please replace following items “Rack” and ”Slot” in “3.1 I/O” in “OPERATOR’S MANUAL”.
Rack
The rack indicates the kind of I/O module.
- 0 = Process I/O board, I/O link connection unit
- 1 to 15 = I/O Unit-MODEL A / B
- 32 = I/O link slave interface
- 33 = PMC (internal I/O assignment)
- 34 = Flags, Markers
- 35 = Always ON
- 36 = DCS Safe I/O (Non-safety function)
- 48 = R-30iB Mate main board (CRMA15, CRMA16)
- 66 = PROFIBUS-DP (master)
- 67 = PROFIBUS-DP (slave)
- 68 = FL-net (variety 1)
- 69 = FL-net status (variety 1)
- 75 = FIPIO (slave)
- 81 = DeviceNet (board 1)
- 82 = DeviceNet (board 2)
- 83 = DeviceNet (board 3)
- 84 = DeviceNet (board 4)
- 87 = RoboWeld
- 88 = Ethernet Global Data
- 89 = EthernetIP
- 90 = Arclink
- 91 = WTC welder
- 92 = CC-Link
- 93 = InterBus (master)
- 94 = InterBus (slave)
- 95 = InterBus (CMD mode)
- 96 = Modbus TCP
- 98 = InterBus slave only
- 99 = PROFINET I/O controller
- 100 = PROFINET I/O device
- 101 = Dual Channel PROFINET I/O controller
- 102 = Dual Channel PROFINET I/O device
- 103 = FL-net (variety 2)
- 104 = FL-net status (variety 2)
- 105 = CC-Link IE Field
- 106 = EtherCAT
Slot
The slot indicates numbers of I/O module which compose the rack.
- When the process I/O board or I/O link connection unit is used, the first connected device is Slot 1, the
second is Slot 2 and others are numbered sequentially as this.
- When the I/O unit-MODEL A is used, the slot number on the base unit in which the module is placed is the
slot value of the module.
- When the I/O unit-MODEL B is used, the slot number is the unit number specified by the DIP switch in the
basic unit.
- For I/O link slaves interface or R-30iB Mate main board (CRMA15, CRMA16), the number is always 1.
- For Flags, the number is always 1. And for Markers, the number is always 2.
Title.
Additional notes of correspondence between
the rack number and the I/O device,
additional items of conversion of analog I/O
[Link].. CUST.
1 2017.8.30 [Link] Initial release B-83284EN/05-13
Sheet.
Edit Date Design Description 2/5
- For Always ON, the number is always 1.
- For the other I/O modules, PMC (internal I/O assignment), DCS Safe I/O (Non-safety function), and from
PROFIBUS-DP (master) to EtherCAT, refer to corresponding manuals.
Title.
Additional notes of correspondence between
the rack number and the I/O device,
additional items of conversion of analog I/O
[Link].. CUST.
1 2017.8.30 [Link] Initial release B-83284EN/05-13
Sheet.
Edit Date Design Description 3/5
Please add following items “Conversion of analog I/O” after the item “Execution of simulated I/O” in “3.1.3
Analog I/O”.
Conversion of analog I/O
For analog I/O of process I/O board, the digital value and voltage correspond as the following.
Process I/O analog Input Process I/O analog output
+10V
+18V
+15V
16383(DN)
3FFF(HEX)
0V
0
8191(DN)
1FFF(HEX)
0V
0 3413(DN) 4095(DN)
-10V D55(HEX) FFF(HEX)
For analog I/O of I/O unit-MODEL A, the digital value and voltage correspond as the following.
12-bit analog input module (AAD04A)
12-bit analog output module (ADA02A)
+10V
2096(DN)
830(HEX)
0V
0 2000(DN) 4096(DN)
7D0(HEX) 1000(HEX)
-10V
Title.
Additional notes of correspondence between
the rack number and the I/O device,
additional items of conversion of analog I/O
[Link].. CUST.
1 2017.8.30 [Link] Initial release B-83284EN/05-13
Sheet.
Edit Date Design Description 4/5
14-bit analog output module (ADA02B)
+10V
8384(DN)
20C0(HEX)
0V
0 8000(DN) 16384(DN)
1F40(HEX) 4000(HEX)
-10V
16-bit analog input module (AAD04B)
+10V
33536(DN)
8300(HEX)
0V
0 32000(DN) 65536(DN)
7D00(HEX) 10000(HEX)
-10V
If the setting is default, 16-bit module is unusable.
By following setting, 16-bit module is available.
$IOLNK[N].$RACK = (The rack number connecting to the module)
$IOLNK[N].$SLOT = (The slot number connecting to the module)
$IOLNK[N].$OPTION = 1
(N : arbitrary number)
Title.
Additional notes of correspondence between
the rack number and the I/O device,
additional items of conversion of analog I/O
[Link].. CUST.
1 2017.8.30 [Link] Initial release B-83284EN/05-13
Sheet.
Edit Date Design Description 5/5