7 Concurrent I/O (Input/Output)
7.3 I/O Instructions
7-3
HW1485509
HW1485509
7.3 I/O Instructions
A Robot system rarely works without having to interact with other devices.
Most instances, the YRC Controller must communicate with external
equipment, such as fixtures and sensors. Communication is
accomplished using Universal Inputs and Outputs. The INFORM
language supports I/O instructions for both digital input and output.
7.3.1 DigitalOut Output#( )
The DigitalOut instruction with the Output#( ) tag can only operate an
individual Universal Output. It is used any time a device, such as a
gripper, is to be turned ON or OFF.
The following is an example of the DigitalOut instruction used with a single
Universal Output (Output#):
DigitalOut Output#(1) ON
JointMove Speed = 25%
DigitalOut Output#(1) OFF
To program a DigitalOut Output#( ) instruction in a job, perform the
following steps:
1. In MANUAL (TEACH) mode, move the cursor to a line to insert the
instruction in the Job Contents view.
2. Open {COMMANDS} from the Navigation Bar.
3. Select {DigitalOut} under {I/O}. The DigitalOut will be inserted in the
Job Contents.
4. Open Detail Edit by tapping the right of the cursor.
5. Select the type of output as single universal output {OT#( )}.
6. Insert the output signal number (ex. insert 1 for output number 1).
7. Choose ON/OFF/INVERT.
8. Press {SAVE ALL}.
By default, once an Output has been turned ON, it will
remain ON it is turned OFF by a job instruction or manually
turned OFF.
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