Cell Interface I/O signals are used for communicating between the robot controller and the cell controller (typically, a PLC). For instance, a cell controller can send a style number to the robot to run, get a signal to know if the robot override is at 100%, monitor if any of the digital inputs are simulated, and so forth.
Table 1. Cell Interface Input Signals
Input Signal | Description | SYSTEM VARIABLES |
---|---|---|
Tryout Mode Digital input |
Enable this signal to signify that the
robot will run in tryout mode. Then in the user TP programs, check the status
of this signal to bypass part presence checking or skip signals you
do not wish the program to process. (When used with the "MH Gripper option" or in SpotTool+, this input provides a way for the robot to execute material handling commands in a tryout, or dry run, mode. When this input is turned ON, the robot goes into tryout mode and operates all of material handling outputs but ignores all part present inputs. When this input is turned OFF, the robot is not in tryout mode. The cell output signal, MH Tryout, indicates the tryout status.) Refer to the “Material Handling Gripper Option” Chapter of the HandlingTool Setup and Operations Manual for detailed information. You can also put the robot in tryout mode by setting the system variable $CELL_SETUP.$DI_TRYOUT_I to TRUE. You can put the robot into tryout mode at the TEST CYCLE Spot Weld menu after you set up I/O. |
$CELL_SETUP.$DI_TRYOUT_I |