Slot data structure

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Note: The data of each slot, the data of WORD and FLOAT type, has been converted to bytes. That is, it is converted to the low and high bytes and the high and low bytes.

(1)Slot1_R2PLC_DigitalSignalStatus (10 byte) : robot digital signal status data direction: Robot – PLC

	bit0	bit1	bit2	bit3	bit4	bit5	bit6	bit7
BYTE1	general_digital_input[0..7]
BYTE2	general_digital_input[8..15]
BYTE3	tool_digitial_input[0..7]
BYTE4	general_digital_output[0..7]
BYTE5	general_digital_output[8..15]
BYTE6	tool_digital_output[0..7]
BYTE7	fun_digital_input[0..7]
BYTE8	fun_digital_output[0..7]
BYTE9	safety_state_input
BYTE10	safety_state_output

See the DUCO CORE Hardware Manual for terminal definitions

general_digital_input: general DI status of the control cabinet.

tool_digitial_input: DI state of the end of robot

general_digital_output: general DO status of the control cabinet

tool_digital_output: DO status of the end of robot

fun_digital_input: function DI status of the control cabinet

fun_digital_output: indicates the DO status of the control cabinet function

Safety controller status safety_state Structure description

	safety_state_1	safety_state_2
bit0	ystem_emergency_stop	config_safety_output0
bit1	external_emergeny_stop	config_safety_output1
bit2	protective_stop_input	reserved
bit3	operation_mode_input	reserved
bit4	3_position_enable_input	reserved
bit5	config_safety_input0	reserved
bit6	config_safety_input1	reserved
bit7	reserved	reserved

config_safety_input: safety input set by the interface

config_safety_output: safety output set by the interface

(2)Slot2_R2PLC_RobotState(29 float): robot status information output data direction: robot – PLC

Float1..7	joint_pos（rad）
Float8..13	tcp_pose(tcp relative to the base coordinate system)
Float14..19	tcp_force
Float20..25	tcp_offset
Float26..29	tcp_load (Center of mass,mass)

(3)Slot3_R2PLC_BitOutputReg (10 byte) : bit output register, output the current bit register status information of the robot data direction: robot – PLC

	bit0	bit1	bit2	bit3	bit4	bit5	bit6	bit7
BYTE1	fun_registers_output[1..8]
BYTE2	fun_registers_output[9..16]
BYTE3	bool_registers_output[1..8]
BYTE4	bool_registers_output[9..16]
BYTE5	bool_registers_output[17..24]
BYTE6	bool_registers_output[25..32]
BYTE7	bool_registers_output[33..40]
BYTE8	bool_registers_output[41..48]
BYTE9	bool_registers_output[49..56]
BYTE10	bool_registers_output[57..64]

(4)Slot4_R2PLC_WordOutputReg (64 byte) :Word output register data direction: robot – PLC

Word1..32

word_output_register [1..32]

(5)Slot5_R2PLC_FloatOutputReg (32 float) : floating point output register Data direction: robot – PLC

Float1..32

float_output_register [1..32]

(6)Slot6_PLC2R_Digital_Output_Command (3 byte) : Robot related control command Input data direction: PLC – robot

	bit0	bit1	bit2	bit3	bit4	bit5	bit6	bit7
BYTE1	general_digital_ouput[1..8]
BYTE2	general_digital_ouput[9..16]
BYTE3	tool_digital_output[1..8]

(7)Slot7_PLC2R_BitInputReg(10 byte): Universal bit input register data direction: PLC – robot

	bit0	bit1	bit2	bit3	bit4	bit5	bit6	bit7
BYTE1	fun_input_register[1..8]
BYTE2	fun_input_register[9..16]
BYTE3..10	bit_input_register[1..64]

(8)Slot8_PLC2R_WordInputReg (64 byte): Word input register data direction: PLC – robot

Word1..32

word_input_register[1..32]

(9)Slot9_PLC2R_FloatInputReg(32 float): Universal floating point input register data direction: PLC – robot

Float1..32

float_input_register[1..32]

(10)Slot10_R2PLC_RobotInfo(16 float): Robot speed and other information data direction: robot – PLC

Float1	Read global speed pertage
Float2	Read Jog speed percentage
Float3	Read the terminal closing speed
Float4	Read emulation/real machine mode
Float5	Read error ID (system last error ID)
Float6..16	reserve

(11)Slot11_PLC2R_RobotInfo(16 float): Robot speed and other information data direction: PLC – robot

Float1	Set the global speed percentage
Float2..16	reserve