5.1.2 I/O Setup
On [I/O Setup] page, you can set the functions of I/O ports, including digital I/O, analog I/O, tool I/O ports, etc. Safety I/O port for controller of some models can be used as a normal I/O port when it is not value-assigned. See the Hardware Manual for details.
- View: View the display in the I/O port list by signal types, including analog, digital, tool, Modbus, etc.
- Input/Output: Display/set all user-available I/O ports.
- Current Selection: Display the name of the I/O port selected, and you can tap it to rename.
- Revoke: This button appears after you rename the I/O, and you can tap it to restore the default I/O name.
- Action: Set the action triggered when the input port receives a signal. Tap to pop up the dropdown box and select the system predefined action.
- Action in the program: Set the action triggered when the output port sends a signal. Tap to pop up the dropdown box and select the system predefined actions.
- I/O tab control: Enable or disable I/O manually on the [I/O] page.
- Enable: It allows you to manually control the signal from the output port in the [I/O] page.
- Manual mode only: It allows you to manually control the signal from the output port in the [I/O] page only under the manual mode. ("*" status)
- Disable: It prevents you from manually controlling the signal from the output port in the [I/O] page. ("-" status)
System predefined status
| Action | Description |
|---|---|
| None | No action triggered |
| HandGuide | Level triggering. The robot enters the HandGuide mode when a Logic High level signal is connected.|
| Go home | Level triggering. The robot joint moves to the home positionwhen a Logic High level signal is connected.
* Keep the Logic High during the robot movement, otherwise the robot will stop moving. * Enabled only in Link Mode.. |
| Start program | Edge triggering. Start the currently loaded program on the rising edge.
* Enabled only in Link Mode. |
| Stop program | Edge triggering. Stop the currently loaded program on the rising edge.
* Enabled only in Link Mode. |
| Pause program | Edge triggering. Pause the currently running program on the rising edge.
* Enabled only in Link Mode. |
| Resume program | Edge triggering. Resume running a paused program on the rising edge.
* Enabled only in Link Mode. |
| Popup dismiss | Edge triggering. Dismiss the current popup window on the rising edge.
* Enabled only in Link Mode. |
| Poweron Robot | Edge triggering.
* Robot powerson on the rising edge when the robot is powered off. The robot changes from power off state to idle state. * Robot releases the brake on the rising edge when the robot is idle. The robot changes from idle state to running state. * Enabled only in Link Mode. |
| Poweroff Robot | Edge triggering. Robot powers off on a rising edge when the robot is running or idle. The robor changes from a running or idle state to a power off state.
* Enabled only in Link Mode. |
| Action in program | signal status |
|---|---|
| None | No actions |
| Low when stopped | Set to logic low when the program execution is completed or terminated. |
| High when stopped | Set to logic high when the program execution is completed or terminated. |
| High when running - Low when not running | Set to logic high when the program is executed;
Set to logic low when the program is stopped or paused. |
| High when paused | Set to logic high when the program is paused. |
| At Home Position | Set to logic high when the joint space position of the robot arm reaches the home position. |
| HandGuide | Set to logic high when the robot is in the HandGuide mode. |
| Robot poweron | Set to logic high when the robot arm is powered on. |
| Internal Emergency Stop | Set to logic high when the robot's inherent emergency stop is triggered.
* The robot's inherent emergency stop devices including Teach Pendant emergency stop buttons, Control Box emergency stop buttons and fixed emergency stop input. * Connecting another robot's emergency stop input enables shared robot stop.. |
| External Emergency Stop | Set to logic high when any external emergency stop is triggered.
* The external emergency stop device can be configured via the "Emergency Stop" input in Safety I/O. |
| System Error | Set to logic high when any fault, violation, emergency stop, safeguard stop or protective stop. |
| Not System Error | Set to logic low when the system is in normal mode, reduced mode or recovery mode. |
| Robot Operable | Set to logic high, when the robot is powered on and the brakes are released, i.e. when the robot is in running state. |
| Action in program | signal status |
|---|---|
| None | No actions |
| Min when stopped | Output minimum voltage when program is completed or terminated. |
| Max when stopped | Output maximum voltage when program is completed or terminated. |
| Max when running - Min when not running | Output maximum voltage when program is running.
When program is stopped or paused, output maximum voltage. |
| Max when paused | Output maximum voltage when program is paused. |
| Max at home position | Output maximum voltage when the joint space position of the robot arm reaches the home position. |
| Max when HandGuide | Output maximum voltage when robot is in HandGuide Mode. |
| Max when Robot Poweron | Output maximum voltage when the robot arm is powered on. |
| Max when Internal Emergency Stop | Output maximum voltage when the robot's inherent emergency stop is triggered.
* The robot's inherent emergency stop devices including Teach Pendant emergency stop buttons, Control Box emergency stop buttons and fixed emergency stop input. * Connecting another robot's emergency stop input enables shared robot stop. |
| Max when External Emergency Stop | Output maximum voltage when any external emergency stop is triggered.
* External emergency stop devices can be configured via the "Emergency Stop" input in Safety IO. |
| Max when System Error | Output maximum voltage when any fault, violation, emergency stop, safeguard stop or protective stop. |
| Max when Not System Error | Output maximum voltage when the system is in normal mode, reduced mode or recovery mode. |
| Max when Robot Operable | Output maximum voltage, when the robot is powered on and the brakes are released, i.e. when the robot is in running state. |