Io System Irc5
Io System Irc5
Io System Irc5
Bus
Unit type
Unit
Group
= Signal
Cross-Connection &
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I/O System Configuration
RobotStudio Online
Used at Warm start
CFG File
RAPID
WriteCfgData “/EIO/EIO_SIGNAL/process_error”,”Unit”,io_unit;
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What to configure in the I/O system?
Cross connections
System inputs and outputs
Command types
Commands
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I/O bus configuration
Parameter Example
-Name “DeviceNet1”
-BusType “DNET”
-BoardNumber “1”
-ConnectorLabel “X3”
-RecoveryTime “15”
Parameter Example
-Name “d328”
-BusType “DNET”
-VendorName “ABB Robotics”
-ProductName “24v digital I/O”
Parameter Example
-Name “GripUnit”
-UnitType “d328”
-Bus “BASE”
-UnitLabel “On arm, U137”
-TrustLevel “1”
-Disabled
-StoreLogicalState
TrustLevel 1 (Default)
Loss of unit causes an error message
Program execution stop when the lost module is accessed
Reconnection of unit and restart of program is required
TrustLevel 3 (Quickstop)
As trustlevel1 but stop on path when the unit is lost
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I/O Signal Configuration
Examples:
-UnitMap 0 // A one bit mapping (digital signal)
-UnitMap 0-15 // A 16 bit signal (analog or group)
-UnitMap 8-15, 0-7 // A “byte-swapped” signal
-UnitMap 8-15,0,1,2-6,7 // … a complicated example…
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The internals of an I/O unit
DI DI DI DI DI DI DI DI
1 2 3 4 5 6 7 8
Memory
00010001
Fieldbus
AI
CPU
1 A/D 10011011 Fieldbus
Connection
AI
A/D 10100000
2
Configuration of “MyAI_2”
-Name “MyAI_2”
-SignalType “AI”
-Unit “MyAIDIUnit”
-UnitMap “8-15” Configuration of “MyDI_5”
-EncType “UNSIGNED” -Name “MyDI_5”
-MaxPhys 10 -SignalType “DI”
-MinPhys 0 -Unit “MyAIDIUnit”
-MaxBitVal 255 -UnitMap 20
-MinBitVal 0
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Configuration of analog signals
Physical value (V, mA etc.)
MaxPhys x
MaxPhysLimit
Logical value
Used in RAPID
MinLog MaxLog (mm/s etc.)
MinBitVal MaxBitVal
“Bitvalue”…
Transmitted on
MinPhysLimit
the fieldbus.
x MinPhys
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Simple cross connections
EIO_CROSS:
-Lact di0 -Lres do0
di0 do0
=
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Cross connection with logical expressions
EIO_CROSS:
-Lact di1 & di2 -Lres do1 + do2
-Lact do1 ! *di3 -Lres do3
di1 do2
di2 & do1
do3
di3 !
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Error Handling
Virtual signals
Signals that are not configured to a unit
Simulated I/O
Enabled/disabled from the GTPU or RSI
A way to run programs but to avoid real I/O interaction
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Fieldbus commands and FCI
EIO_COMMAND_TYPE: EIO_COMMAND:
-Name “StationAddress” -Unit “Myd352”
-UnitType “d352” -CommandType “StationAddress”
-DefValue 126 -Value “20”
-OrderNr 3
-DN_Path “6,20 67 24 01 30 04,C6,1”
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-DN_Service 0x10
Summary