10.  INPUT/OUTPUT INSTRUCTIONS

10.1.  Overview

Input/output, or I/O, instructions allow the program to turn on and off output signals and receive input signals. There are several kinds of I/O instructions:

  • Digital input and output instructions

  • Robot digital input and output instructions

  • Analog input and output instructions

  • Group input and output instructions

  • Welding Input and output instructions

Note

I/O instructions are initiated immediately after completion of the previous instruction.

The format of the I/O instructions in the TP editor is controlled by three items in the [EDCMD] pull-up menu.

  • Comment

  • IO Status

  • Color

10.2.  Digital Input and Output Instructions

Digital input (DI) and digital output (DO) signals are user-controlled input and output signals. Use digital input and output instructions to control digital input and output signals in a program. Refer to the “Input/Output (I/O) Setup” chapter in the Setup and Operations Manual.

R[x] = DI[x]

The R[x] = DI[x] instruction stores the condition of a digital input signal line (ON=1, OFF=0) in a register. See Figure 48, " R[x] = DI[x] " .

Figure 48.  R[x] = DI[x]

R[x] = DI[x]

DO[x] = ON/OFF

The DO[x] = ON/OFF instruction turns on or off the specified digital output signal. See Figure 49, " DO[x] = ON/OFF " .

Figure 49.  DO[x] = ON/OFF

DO[x] = ON/OFF

DO[x] = PULSE [,width]

The DO[x]=PULSE [,width] instruction turns on the digital output signal for the time specified. See Figure 50, " DO[x] = PULSE [,width] " .

Figure 50.  DO[x] = PULSE [,width]

DO[x] = PULSE [,width]

DO[x] = R[x]

The DO[x] = R[x] instruction turns on or off the specified digital output signal based on the value of the register. A value of 0 turns the specified digital output OFF. All values except zero turn the specified digital output ON. See Figure 51, " DO[x] = R[x] " .

Figure 51.  DO[x] = R[x]

DO[x] = R[x]

10.3.  Robot Digital Input and Output Instructions

Robot digital input (RI) and robot digital output (RO) signals are used to communicate between the controller and the robot. Refer to the “Input/Output (I/O) Setup” chapter in the Setup and Operations Manual.

R[x] = RI[x]

The R[x] = RI[x] instruction stores the condition of specified robot digital input signal (ON=1, OFF=0) in a register. See Figure 52, " R[x] = RI[x] " .

Figure 52.  R[x] = RI[x]

R[x] = RI[x]

RO[x] = ON/OFF

The RO[x] = ON/OFF instruction turns on or off the specified robot digital output signal. See Figure 53, " RO[x] = ON/OFF " .

Figure 53.  RO[x] = ON/OFF

RO[x] = ON/OFF

RO[x] = PULSE [,width]

The RO[x]=PULSE [,width] instruction turns on the specified robot digital output signal for the time specified. See Figure 54, " RO[x] = PULSE [,width] " .

Figure 54.  RO[x] = PULSE [,width]

RO[x] = PULSE [,width]

RO[x] = R[x]

The RO[x] = R[x] instruction turns on or off the specified robot digital output signal based on the value of the register (1=ON, 0=OFF). See Figure 55, " RO[x] = R[x] " .

Figure 55.  RO[x] = R[x]

RO[x] = R[x]

10.4.  Analog Input and Output Instructions

Analog input (AI) and analog output (AO) signals are continuous input and output signals whose magnitudes indicate data values, such as temperatures and voltages. Refer to the “Input/Output (I/O) Setup” chapter in the Setup and Operations Manual.

R[x] = AI[x]

The R[x] = AI[x] instruction stores the value on an analog input channel in a register. See Figure 56, " R[x] = AI[x] " .

Figure 56.  R[x] = AI[x]

R[x] = AI[x]

AO[x] = value

The AO[x]=value instruction sends a value on an analog output channel. See Figure 57, " AO[x] = value " .

Figure 57.  AO[x] = value

AO[x] = value

10.5.  Group Input and Output Instructions

Group input (GI) and group output (GO) signals are several digital input and output signals that have been assigned to a group, can be read as a binary number, and can be controlled by one instruction. Refer to the “Input/Output (I/O) Setup” chapter in the Setup and Operations Manual.

R[x] = GI[x]

The R[x] = GI[x] instruction places the decimal value of the binary number on the specified group input into the specified register. See Figure 58, " R[x] = GI[x] " .

Figure 58.  R[x] = GI[x]

R[x] = GI[x]

GO[x] = value

The GO[x]=value instruction sends the binary equivalent of a value on the specified group output lines. See Figure 59, " GO[x] = value " .

Figure 59.  GO[x] = value

GO[x] = value

10.6. Input and Output Instruction Format

All of the I/O instructions discussed in the previous sections can either be displayed in a concise format or, if you prefer, you can enhance the format with:

  • Comment

  • IO Status

  • Color

These three display options can be selected in the [EDCMD] pull-up menu using the F5 function key. Selecting an item in the menu will toggle the feature ON and OFF. These three display options can be used together or independently.

Comments

A comment string can be added to an I/O signal in the I/O screen. You can display comments in the editor by selecting the Comment item in the [EDCMD] menu.

IO Status

A Digital I/O signal has a state of ON or OFF. This can be observed in the Digital I/O screens. An Analog or Group I/O signal also has a value, and it can be viewed in the corresponding I/O screens. The status or value of these signals can also be displayed in the I/O instructions in the TP editor. You can enable or disable this feature by selecting the IO Status item in the [EDCMD] menu.

Color

Color can be used by some TP instructions. The ON and OFF states of Digital I/O can be displayed with Green and Red background colors, respectively. The I/O value of Analog and Group I/O signals can be highlighted with a yellow background.