Data Fields and Address Offsets
Input data — from Robot to PLC (see Input Data):
- Freely configurable registers (
Array[0..255] of Byte) - Current UUIDs (program, Tool)
- Speed, payload, TCP pose, joint angles
- System status Flags and codes (Robot status, error codes)
Output data — from PLC to Robot (see Output Data):
- Freely configurable registers (
Array[0..255] of Byte) - Target UUIDs (program, Tool)
- Global speed, payload, target pose, target joint angles
- Control Flags (servo, program action, move to target, etc.)
note
If you use more than one RobCo Robot, ensure you follow the offset logic provided by TIA Portal after UDT mapping.
In the tables below, ↳ marks a field nested inside the struct above it; the nested
field's address is an offset into that struct, so a parent and its first child share
an address.
Input Data (Robot → PLC)
| Name | Data Type | Address |
|---|---|---|
Auxiliary_registers | Array[0..255] of Byte | %I0.0 |
Flow_UUID | Array[0..35] of Char | %I256.0 |
Tool_UUID | Array[0..35] of Char | %I292.0 |
Global_speed | UDInt | %ID328 |
Payload_mass | Real | %ID332 |
Payload_com_x | Real | %ID336 |
Payload_com_y | Real | %ID340 |
Payload_com_z | Real | %ID344 |
Current_tcp_pose | RobCo_Cartesian_Pose | %ID348 |
↳ position_x | Real | %ID348 |
↳ position_y | Real | %ID352 |
↳ position_z | Real | %ID356 |
↳ orientation_rz | Real | %ID360 |
↳ orientation_ry | Real | %ID364 |
↳ orientation_rx | Real | %ID368 |
Current_joint_angles | RobCo_JointAngle_Pose | %ID372 |
↳ joint_angle_1 | Real | %ID372 |
↳ joint_angle_2 | Real | %ID376 |
↳ joint_angle_3 | Real | %ID380 |
↳ joint_angle_4 | Real | %ID384 |
↳ joint_angle_5 | Real | %ID388 |
↳ joint_angle_6 | Real | %ID392 |
↳ joint_angle_7 | Real | %ID396 |
↳ joint_angle_8 | Real | %ID400 |
Codes | RobCo_Input_Codes | %ID404 |
↳ Last_error_code | UInt | %IW404 |
↳ Operation_mode | UInt | %IW406 |
↳ Robot_state | UInt | %IW408 |
↳ Safety_state | UInt | %IW410 |
Flags | RobCo_Input_Flags | %ID412 |
↳ Operational | Bool | %I412.0 |
↳ Robot_in_home_position | Bool | %I412.1 |
↳ Teach_mode | Bool | %I412.2 |
↳ Safety_auto_mode | Bool | %I412.3 |
↳ Safety_manual_mode | Bool | %I412.4 |
↳ Flow_running | Bool | %I412.5 |
↳ Flow_paused | Bool | %I412.6 |
↳ Flow_ready_to_start | Bool | %I412.7 |
↳ Brakes_engaded | Bool | %I412.8 |
↳ System_alarm_error | Bool | %I412.9 |
↳ Emergency_stop_triggered | Bool | %I412.10 |
↳ Hand_guiding | Bool | %I412.11 |
Output Data (PLC → Robot)
| Name | Data Type | Address |
|---|---|---|
Auxiliary_registers | Array[0..255] of Byte | %Q0.0 |
Flow_UUID | Array[0..35] of Char | %Q256.0 |
Tool_UUID | Array[0..35] of Char | %Q292.0 |
Global_speed | UDInt | %QD328 |
Payload_mass | Real | %QD332 |
Payload_com_x | Real | %QD336 |
Payload_com_y | Real | %QD340 |
Payload_com_z | Real | %QD344 |
Target_tcp_pose | RobCo_Cartesian_Pose | %QD348 |
↳ position_x | Real | %QD348 |
↳ position_y | Real | %QD352 |
↳ position_z | Real | %QD356 |
↳ orientation_rz | Real | %QD360 |
↳ orientation_ry | Real | %QD364 |
↳ orientation_rx | Real | %QD368 |
Target_joint_angles | RobCo_JointAngle_Pose | %QD372 |
↳ joint_angle_1 | Real | %QD372 |
↳ joint_angle_2 | Real | %QD376 |
↳ joint_angle_3 | Real | %QD380 |
↳ joint_angle_4 | Real | %QD384 |
↳ joint_angle_5 | Real | %QD388 |
↳ joint_angle_6 | Real | %QD392 |
↳ joint_angle_7 | Real | %QD396 |
↳ joint_angle_8 | Real | %QD400 |
Flow_action | USInt | %QB404 |
Movement_action | USInt | %QB405 |
Flags | RobCo_Output_Flags | %QD406 |
↳ Brakes_engaged | Bool | %Q406.0 |
↳ Acknowledge_error | Bool | %Q406.1 |
↳ Hand_guiding | Bool | %Q406.2 |