ABB IRB 6400R - I;O System

I/O System
10 Product Specification RobotWare for BaseWare OS 3.2
2.5 I/O System
Elementary I/O
Robust and fast distributed system built on CAN/DeviceNet with the following
features:
- Named signals and actions with mapping to physical signal (“gripper close”
instead of “set output 1”).
- Flexible cross connections.
- Up to 512 signals available (one signal = single DI or DO, group of DI or DO,
AI or AO).
- Grouping of signals to form integer values.
- Sophisticated error handling.
- Selectable “trust level” (i.e. what action to take when a unit is “lost”).
- Program controlled enabling/disabling of I/O units.
- Scaling of analog signals.
- Filtering.
- Polarity definition.
- Pulsing.
- TCP-proportional analog signal.
- Programmable delays.
- Simulated I/O (for forming cross connections or logical conditions without need
the for physical hardware).
- Accurate coordination with motion.
Serial I/O
XON/XOFF or SLIP.
Memory I/O
RAM disk and floppy disk.