I have a Yaskawa GP4 with a YRC1000 Micro controller and a AB 1769-L18ER PLC used for R&D purposes. I found some helpful information on this site for getting the current robot positions into M registers. Now I need to communicate that to my PLC via Ethernet I/P. I'm specifically interested in the Rz axis as I'm trying to correlate angular position with a measured diameters. I have the lower and upper words mapped to M20 and M21 respectively. I'd like to communicate these values as fast as possible so I can rotate a bit quicker.
What is the best way to accomplish this? Ladder to General outputs?