7 Concurrent I/O (Input/Output)
7.7 Block I/O
7-30
HW1485509
HW1485509
7.7 Block I/O
The Block I/O feature allows the user to quickly configure I/O sequences
that can be used to communicate with a tool attached to a Robot or
external devices (e.g. a machine tool or conveyor). This feature currently
supports the basic INFORM commands (DigitalOut, Group DigitalOut,
Timer) required to communicate with a device and provides a pair of
states for each setting to perform two related tasks (e.g. OFF and ON).
Block I/O settings can then be accessed from the Robot Jog panel via the
{Block I/O} to either physically perform an action or to add the stored
commands to the current Job. This enables quick programming for
complicated external devices that require several commands to execute.
For example, a basic parallel gripper typically has two states: Open and
Close. To close the gripper, Output #1 must be turned OFF, and Output #2
must be turned ON. A Timer can be added before and/or after the
commands if needed to ensure a good pick. Thus the “OFF” (close) state
could be configured as the following figure.
Fig. 7-23: Close State of a Gripper
Similarly, opening the gripper might have the inverse logic (turn ON
Output #1 and OFF Output #2)
Fig. 7-24: Open State of a Gripper
The interface currently only supports two states (ON and
OFF).
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