Data structure

Data structure

（1）R2PLC_DigitalSignalStatus (10 byte) : robot digital signal status data direction: robot →PLC

	data
BYTE1	general_digital_input[0..7]	DIN[0]
BYTE2	general_digital_input[8..15]	DIN[1]
BYTE3	tool_digitial_input[0..7]	DIN[2]
BYTE4	general_digital_output[0..7]	DIN[3]
BYTE5	general_digital_output[8..15]	DIN[4]
BYTE6	tool_digital_output[0..7]	DIN[5]
BYTE7	fun_digital_input[0..7]	DIN[6]
BYTE8	fun_digital_output[0..7]	DIN[7]
BYTE9	safety_state_input	DIN[8]
BYTE10	safety_state_output	DIN[9]

Note: The global variable DIN in the above example is used as an example.

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） R2PLC_Reserved (6 byte) : Robot digital signal status data direction: robot →PLC

BYTE1..6

reserved [0..5]

DIN[10…15]

（3）R2PLC_RobotState(32float): robot state information output data direction: robot →PLC

Float1..7	joint_pos（rad）	DIN[16…43]
Float8..13	tcp_pose(tcp relative to the base coordinate system)	DIN[44…67]
Float14..19	tcp_force	DIN[68…91]
Float20..25	tcp_offset	DIN[92…115]
Float26..29	tcp_load (Center of mass,mass)	DIN[116…131]
Float30..32	reserved	DIN[132…143]

Note: The global variable DIN in the above example is used as an example.

（4） R2PLC_BitOutputReg (10 byte) : bit output register, output the robot’s current bit register status information data direction: robot →PLC

BYTE1	fun_registers_output[1..8]	DIN[144]
BYTE2	fun_registers_output[9..16]	DIN[145]
BYTE3	bool_registers_output[1..8]	DIN[146]
BYTE4	bool_registers_output[9..16]	DIN[147]
BYTE5	bool_registers_output[17..24]	DIN[148]
BYTE6	bool_registers_output[25..32]	DIN[149]
BYTE7	bool_registers_output[33..40]	DIN[150]
BYTE8	bool_registers_output[41..48]	DIN[151]
BYTE9	bool_registers_output[49..56]	DIN[152]
BYTE10	bool_registers_output[57..64]	DIN[153]

Note: The global variable DIN in the above example is used as an example.

（5） R2PLC_WordOutputReg (64 byte) :Word output register Data direction: robot →PLC

Word1..32

word_output_register [1..32]

DIN[154…217]

Note: The global variable DIN in the above example is used as an example.

（6）R2PLC_FloatOutputReg (32 float) : floating-point output register Data direction: robot →PLC

Float1..32

float_output_register [1..32]

DIN[220…347]

Note: The global variable DIN in the above example is used as an example.

（7）R2PLC_RobotInfo (16 float) : end alignment speed and other information data direction: robot →PLC

Float1	Read global speed percentage	DIN[348…351]
Float2	Read Jog speed percantage	DIN[352…355]
Float3	Read the terminal closing speed	DIN[356…359]
Float4	Read real/simulation mode	DIN[360…363]
Float5	Read error ID (the system’s last error ID）	DIN[8]
Float6..16	Reserved	DIN[368…411]

Note: The global variable DIN in the above example is used as an example.

（8）PLC2R_Digital_Output_Command (3 byte) : Robot related control command Input data direction: PLC→ robot

BYTE1	general_digital_ouput[1..8]	DOUT[0]
BYTE2	general_digital_ouput[9..16]	DOUT[1]
BYTE3	tool_digital_output[1..8]	DOUT[2]

Note: The global variable DOUT is used as an example.

（9） PLC2R_Reserved (7 byte) : Reserved data direction: PLC→ robot

BYTE1..7

Reserved

DOUT[3…9]

Note: The global variable DOUT is used as an example.

（10） BitInputReg(10 byte): universal bit input register Data direction: PLC→ robot

BYTE1	fun_input_register[1..8]	DOUT[10]
BYTE2	fun_input_register[9..16]	DOUT[11]
BYTE3..10	bit_input_register[1..64]	DOUT[12…19]

Note: The global variable DOUT is used as an example.

（11） PLC2R_WordInputReg (64 byte): Word input register Data direction: PLC→ robot

BYTE1..32

word_input_register[1..32]

DOUT[20…83]

Note: The global variable DOUT is used as an example.

（12）PLC2R_FloatInputReg(32 float): general floating-point input register data direction: PLC → robot

Float1..32

float_input_register[1..32]

DOUT[84…211]

Note: The global variable DOUT is used as an example.

（13）PLC2R_RobotInfo (16 float): global speed percentage and other information data direction: PLC → robot

Float1	Set the global speed percentage	DOUT[212…215]
Float2..16	Reserved	DOUT[216…275]

Note: The global variable DOUT is used as an example.