1 FINSTCP Instruction Overview

The FINSTCP instruction is used to manage FINSTCP communication connections in run mode, enabling Fins TCP protocol communication between the controller and PLC.

> 1.1 Open FINSTCP Connection

Instruction Function: Open the FINSTCP communication connection in run mode

Parameter Description:

Parameter	Description
Process Number	Bind FINSTCP parameter process number

Usage Scenarios:

• Establish communication connection when the program starts
• Reconnect after communication is disconnected

> 1.2 Disconnect FINSTCP Connection

Instruction Function: Disconnect the FINSTCP communication connection in run mode

Parameter Description:

Parameter	Description
Process Number	Bind FINSTCP parameter process number

Usage Scenarios:

• Close communication connection when the program ends
• Disconnect current connection when switching to a different PLC

> 1.3 Get FINSTCP Connection Status

Instruction Function: Store the FINSTCP connection status in a BOOL/GBOOL variable

Usage Method:

• Determine the FINSTCP connection status by reading the variable value
• Status is obtained each time the instruction is executed
• Typically placed below "Open FINSTCP Connection"

Usage Example:

// Example code
GET_FINSTCP_STATUS GB010  // Store connection status in GB010
IF GB010 == 1 THEN
    // Connection successful, execute subsequent operations
    ...
ELSE
    // Connection failed, execute error handling
    ...
ENDIF

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2 FINSTCP Parameter Configuration

> 2.1 Parameter Description

The FINSTCP parameter configuration interface contains the following parameters:

Parameter	Example Value	Description
Process Number	1	A total of 9 process numbers are available; this process number has no actual significance
Connection	Parameter/Connect button	After FinsTCP setup is complete, the connect button must be opened; this connect button can also be opened and closed via Open FINSTCP Connection and Disconnect FINSTCP Connection instructions
Communication Status	Connected/Disconnected	The communication status on the right side shows the connection status
Protocol	Fins TCP	Communication protocol type
IP	192.168.1.10	PLC device IP address
Port	9600	PLC device port number
Write Address	1000	PLC write address (PLC start address)
Read Address	2000	PLC read address (PLC start address)
Write Address	GB001, GI001	Controller write address (local start address); PLC reads data from the controller and writes it to PLC; this value can be modified on the teach pendant
Read Address	GB500, GI500	Controller read address (local start address); controller reads data written by PLC and stores it in the controller's global Boolean and global integer variables; this value cannot be modified via the teach pendant, but can be written via CX-Programmer software

Important Notes:

The PLC write address and read address values must not be set to the same value. Additionally, the variables in the controller's write address and read address must not be the same variables.

> 2.2 Parameter Setting Example

Typical Configuration Example:

Parameter	Value	Description
Process Number	1	Use process number 1
IP	192.168.1.10	PLC IP address
Port	9600	PLC port number
Write Address (PLC)	1000	PLC memory address 1000 in CX-Programmer software
Read Address (PLC)	2000	PLC memory address 2000 in CX-Programmer software
Write Address (Controller)	GB001, GI001	Controller global Boolean and integer variable start address
Read Address (Controller)	GB500, GI500	Controller global Boolean and integer variable start address

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3 Fins TCP Usage Workflow

> 3.1 Fins TCP Function Overview

Function Description: The Fins TCP function enables data interaction between the controller and PLC

Supported Protocol: Fins TCP

Scope of Application: This function only applies to Omron PLCs

Usage Workflow:

Connect PLC, controller, and computer -> Set FINSTCP parameters -> Open CX-Programmer software for read/write operations

> 3.2 Hardware Connection

Step: Connect the PLC, controller, and computer using network cables

Software Preparation: CX-Programmer software must be installed on the computer

Connection Topology:

┌─────────────┐
│   Computer   │
│ (CX-Programmer)
└──────┬──────┘
       │
       │ Network cable
       │
┌──────┴──────┐
│  Controller  │
│ (iNexBot)   │
└──────┬──────┘
       │
       │ Network cable
       │
┌──────┴──────┐
│ Omron PLC   │
└─────────────┘

> 3.3 Parameter Settings

Setting Path: [Settings] -> [Modbus Settings] -> [FINSTCP Parameters]

Setting Steps:

1. Enter the teach pendant [Settings] menu

2. Select [Modbus Settings]

3. Click [FINSTCP Parameters]

4. Set the relevant parameters:

   • IP Address: Enter the PLC address 192.168.1.10
   • Port: Enter the PLC port 9600
   • Write Address: Enter the PLC memory address 1000 from CX-Programmer software
   • Read Address: Enter the PLC memory address 2000 from CX-Programmer software
   • Write Address (Controller): Enter GB001 and GI001
   • Read Address (Controller): Enter GB500 and GI500

FINSTCP Parameter Details:

Parameter	Description
Connection	After FinsTCP setup is complete, the connect button must be opened; this connect button can also be opened and closed via Open FINSTCP Connection and Disconnect FINSTCP Connection instructions; the communication status on the right side shows the connection status
IP	PLC device IP address
Port	PLC device port number
Write Address (PLC)	PLC memory address 1000 in CX-Programmer software
Read Address (PLC)	PLC memory address 2000 in CX-Programmer software
Write Address (Controller)	Starting from GB001, sub-units from CX-Programmer software are written sequentially; the first 16 Boolean variables are filled by obtaining the controller status (see appendix table). Starting from GI001, units from CX-Programmer software are written sequentially; the first 6 integer variables are the robot's current Cartesian coordinates, and the remaining values are the controller's own values (see appendix table). All values above are obtained by CX-Programmer software from the controller; refer to the appendix table for specific meanings
Read Address (Controller)	Starting from GB500, variable values are written by CX-Programmer software; the first 16 variables are written to control the controller (see appendix table for specific functions). Starting from GI500, values are written by CX-Programmer software. All values above can only be written via CX-Programmer software

Important Note:

One unit = 16 sub-units. Sub-units are written to Boolean variables, and units are written to integer variables.

> 3.4 CX-Programmer Operations

Operation Steps:

1. Open Software: Open CX-Programmer software

2. Create New Project:

   • Click [File]
   • Select [New]
   • Click [OK] without modifying the popup content

3. Open Memory Interface:

   • Double-click [Memory]
   • Open the memory interface

4. Open Table Interface:

   • Double-click [D]
   • Open a table interface

5. Monitor Data:

   • Click the [Monitor] button
   • Values will appear in the table interface
   • Enter 1000 as the start address
   • Click [Binary]
   • The values in the table are sub-unit values

6. Connection Verification:

   • After the controller and PLC are connected
   • The value below 9 in the table will continuously toggle between 1 and 0

7. View Unit Values:

   • Click [Signed Decimal]
   • The values in the table are unit values

8. Write Operations:

   • When writing from CX-Programmer software
   • The [Read-only] button in the new interface must be turned off
   • Then values can be written from the software

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4 Controller Address Mapping Details

This chapter provides detailed explanations of the values in the controller's write addresses and read addresses.

> 4.1 Global Boolean Variables in Controller Write Address

Variable Range: First 128 global Boolean variables

Data Source: The values of these 128 variables are obtained by the PLC reading the controller

4.1.1 First 16 Status Variables

The values of the first 16 variables are obtained based on the controller's status.

Variable Number	Meaning	Condition for Value 1	Condition for Value 0
1st	Reserved	-	-
2nd	Run Mode Status	Controller is in run mode	Controller is not in run mode
3rd	Remote Mode Status	Controller is in remote mode	Controller is not in remote mode
4th	Servo Ready Status	Controller servo is ready	Controller servo is not ready
5th	Reserved	-	-
6th	Emergency Stop Status	Controller emergency stop activated	Controller emergency stop not activated
7th	Reserved	-	-
8th	Program Running Status	Program is running in controller	Program is not running in controller
9th	Program Paused Status	Program is paused in controller	Program is not paused in controller
10th	Communication Heartbeat	Controller and PLC communication connected	Controller and PLC communication disconnected
11th	Communication Connection Status	Controller and PLC communication status connected	Controller and PLC communication status not connected
12th	Teach Mode Status	Controller is in teach mode	Controller is not in teach mode
13th-16th	Reserved	-	-

Variable Description:

• 2nd variable (Run Mode): Value is 1 when the controller is in run mode, otherwise 0
• 3rd variable (Remote Mode): Value is 1 when the controller is in remote mode, otherwise 0
• 4th variable (Servo Ready): Value is 1 when the controller servo is ready, otherwise 0
• 6th variable (Emergency Stop): Value is 1 when the controller emergency stop is activated, otherwise 0
• 8th variable (Program Running): Value is 1 when a program is running in the controller, otherwise 0
• 9th variable (Program Paused): Value is 1 when a program is paused in the controller, otherwise 0
• 10th variable (Communication Heartbeat): After the controller and PLC communication is connected, this value toggles continuously between 1 and 0. (When this value is toggling continuously, it indicates that the controller and PLC are connected successfully.)
• 11th variable (Communication Connection): Value is 1 when the controller and PLC communication status is connected; this value does not change
• 12th variable (Teach Mode): Value is 1 when the controller is in teach mode, otherwise 0

4.1.2 User Variables 16-128

Description: The values of variables 16 to 128 in the global Boolean variables are the controller's own global Boolean variable values, which are also the values read by the PLC

Modifiability: These variable values can be directly modified and filled in via the teach pendant

> 4.2 Global Integer Variables in Controller Write Address

4.2.1 First 6 Coordinate Variables

Description: The values of the first 6 global integer variables in the controller's write address represent the robot's coordinate position values

Coordinate Variables:

Variable Number	Coordinate Meaning
1st	X-axis coordinate
2nd	Y-axis coordinate
3rd	Z-axis coordinate
4th	Rx-axis coordinate
5th	Ry-axis coordinate
6th	Rz-axis coordinate

4.2.2 Global Integer Variables 6-40

Description: Variables 6 through 40 display the values of the controller's global integer variables

Modifiability: These variable values can be modified and filled in via the teach pendant

> 4.3 Global Boolean Variables in Controller Read Address

Variable Range: First 128 global Boolean variables in the read address

Data Source: Values written by the PLC

4.3.1 Control Signal Variables

Variable Number	Function Description	Activation Effect
1st	Reserved	-
2nd	Servo Ready Control	When PLC writes value 1, the controller servo is ready (if this value is not changed to 0, the controller will remain in servo ready state)
3rd	Reserved	-
4th	Program Start Control	When PLC writes value 1, the controller main program starts running (controller must be in run mode)
5th	Program Pause Control	When PLC writes value 1, the controller main program pauses (controller must be in run mode)
6th	Reserved	-
7th	Alarm Clear Control	When PLC writes value 1, the controller's alarm bar is cleared, with the same effect as the clear error button
8th-128th	User-defined	User-defined functions

Variable Description:

• 2nd variable (Servo Ready): When PLC writes value 1, the controller servo is ready (if this value is not changed to 0, the controller will remain in servo ready state)
• 4th variable (Program Start): When PLC writes value 1, the controller main program starts running (controller must be in run mode)
• 5th variable (Program Pause): When PLC writes value 1, the controller main program pauses (controller must be in run mode)
• 7th variable (Alarm Clear): When PLC writes value 1, the controller's alarm bar is cleared, with the same effect as the clear error button

> 4.4 Global Integer Variables in Controller Read Address

Variable Range: First 81 integer variables bound to the read address

Data Source: Values written by the PLC

Modifiability: These values must be modified and filled in via the PLC

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5 Important Notes

5.1 Address Configuration Notes

Note	Description
Address Uniqueness	The PLC write address and read address values must not be set to the same value
Variable Uniqueness	The variables in the controller's write address and read address must not be the same variables
Address Range	Ensure the address range is within the valid range to avoid address conflicts

5.2 Communication Connection Notes

Note	Description
Protocol Support	This function only applies to Omron PLCs
Network Connection	Ensure the PLC, controller, and computer are properly connected via network cables
IP Address Configuration	Ensure the IP addresses are in the same network segment
Port Configuration	Ensure the port number is correct; the default is 9600

5.3 CX-Programmer Operation Notes

Note	Description
Read-only Mode	The read-only button must be turned off before write operations
Monitor Mode	Data changes can be viewed in real-time in monitor mode
Heartbeat Detection	After successful communication, the heartbeat variable will toggle continuously
Data Format	Binary displays sub-unit values; signed decimal displays unit values

5.4 Variable Operation Notes

Note	Description
Status Variables	The first 16 Boolean variables are system status, read-only
User Variables	Boolean variables 16-128 are read/write
Coordinate Variables	The first 6 integer variables are robot coordinates
Global Variables	Variables that can be modified via the teach pendant

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6 Typical Application Scenarios

6.1 PLC Controls Robot Start/Stop

Scenario Description: Control the start and pause of the robot's main program via PLC

Implementation Method:

1. Configure FINSTCP parameters
2. Write 1 to the 4th variable of the controller's read address via CX-Programmer software to start the robot's main program
3. Write 1 to the 5th variable of the controller's read address via CX-Programmer software to pause the robot's main program

Control Flow:

PLC writes GB504 (4th variable) = 1 -> Robot main program starts running
PLC writes GB505 (5th variable) = 1 -> Robot main program pauses

6.2 Robot Status Monitoring

Scenario Description: PLC monitors robot running status in real-time

Implementation Method:

1. Configure FINSTCP parameters
2. Read the first 16 variables of the controller's write address via CX-Programmer software
3. Parse the status information of each variable

Status Monitoring:

Robot Status	Corresponding Variable	Condition for Value 1
Run Mode	GB002	Controller is in run mode
Remote Mode	GB003	Controller is in remote mode
Servo Ready	GB004	Controller servo is ready
Emergency Stop	GB006	Controller emergency stop activated
Program Running	GB008	Program is running in controller
Program Paused	GB009	Program is paused in controller
Communication Heartbeat	GB010	Controller and PLC communication connected
Communication Connection	GB011	Controller and PLC communication status connected
Teach Mode	GB012	Controller is in teach mode

6.3 Coordinate Data Interaction

Scenario Description: PLC reads the robot's current coordinate position

Implementation Method:

1. Configure FINSTCP parameters
2. Read the first 6 integer variables (GI001-GI006) of the controller's write address via CX-Programmer software
3. Parse the coordinate values

Coordinate Variables:

Variable Number	Variable Name	Coordinate Meaning
1st	GI001	X-axis coordinate
2nd	GI002	Y-axis coordinate
3rd	GI003	Z-axis coordinate
4th	GI004	Rx-axis coordinate
5th	GI005	Ry-axis coordinate
6th	GI006	Rz-axis coordinate

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7 Troubleshooting

7.1 Common Issues

Fault Symptom	Possible Cause	Solution
Cannot connect to PLC	IP address configuration error	Check if the IP address is in the same network segment
Cannot connect to PLC	Port number configuration error	Check if the port number is 9600
Cannot connect to PLC	Network cable connection abnormal	Check if the network cable connection is normal
Communication status shows disconnected	Connect button not clicked	Click the connect button or use the Open FINSTCP Connection instruction
Heartbeat variable not toggling	Communication not established	Check network connection and configuration parameters
Cannot write data	Read-only mode not turned off	Turn off the read-only button in CX-Programmer software
Cannot start program	Controller not in run mode	Switch the controller to run mode
Cannot pause program	Controller not in run mode	Switch the controller to run mode

7.2 Connection Status Determination

Normal Connection Status:

• Communication status shows "Connected"
• 10th variable (GB010) value toggles continuously between 1 and 0
• 11th variable (GB011) value is 1

Abnormal Connection Status:

• Communication status shows "Disconnected"
• 10th variable (GB010) value does not toggle
• 11th variable (GB011) value is 0

7.3 Heartbeat Detection Description

Heartbeat Variable: 10th variable (GB010)

Normal State: After the controller and PLC communication is connected, this value toggles continuously between 1 and 0

Determination Standard: When this value is toggling continuously, it indicates that the controller and PLC are connected successfully