I/O Setup

Description

Use the I/O Setup screen to define I/O signals and configure actions with the I/O tab control. The types of I/O signals are listed under Input and Output.

You can use a fieldbus, for example, Profinet and EtherNet/IP, to access the general purpose registers.

If you enable the Tool Communication Interface (TCI), the tool analog input becomes unavailable.

When starting programs from an I/O or fieldbus input, the robot can begin movement from the position it has, there will not be any manual movement to the first waypoint via PolyScope required.

I/O Signal Type

To limit the number of signals listed under Input and Output, use the View drop-down menu to change the displayed content based on signal type.

Assigning User-defined Names

You can name the Input and Output signals to easily identify the ones being used.

Select the desired signal.
Tap the text field to type a name for the signal.
To reset the name to default, tap Clear.

You must provide a user-defined name for a general purpose register to make it available in the program (i.e., for a Wait command or the conditional expression of an If command).

The Wait and If commands are described in (Wait) and (If), respectively. You can find named general purpose registers in the Input or Output selector on the Expression Editor screen.

I/O Actions and I/O Tab Control

You can use Physical and Fieldbus digital I/Os to trigger actions or react to the status of a program.

I/O Tab Control

Use I/O Tab Control to specify whether an output is controlled on the I/O tab (by either programmers, or both operators and programmers), or if it is controlled by the robot programs.

Available Input Actions

Command	Action
Start	Starts or resumes the current program on a rising edge (only enabled in Remote Control)
Stop	Stops the current program on a rising edge
Pause	Pauses the current program on a rising edge
Freedrive	When the input is high, the robot goes into freedrive (similar to the freedrive button). The input is ignored if other conditions disallow freedrive.

If the robot is stopped while using the Start input action, the robot slowly moves to the first waypoint of the program before executing that program. If the robot is paused while using the Start input action, the robot slowly moves to the position from where it was paused before resuming that program.

Available Output Actions

Action	Output state	Program state
Low when not running	Low	Stopped or paused
High when not running	High	Stopped or paused
High when running, low when stopped	Low High	Running, Stopped or paused
Low on unscheduled stop	Low	Program terminated unscheduled
Low on unscheduled stop, otherwise High	Low High	Program terminated unscheduled Running, stopped or paused
Continuous Pulse	Alternates between high and low	Running (pause or stop the program to maintain the pulse state)

Program Termination Cause

An unscheduled program termination can occur for any of the reasons listed below:

Robot stop
Fault
Violation
Runtime exception