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
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
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.
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] " .
The DO[x] = ON/OFF instruction turns on or off the specified digital output signal. See Figure 49, " DO[x] = ON/OFF " .
The DO[x]=PULSE [,width] instruction turns on the digital output signal for the time specified. See Figure 50, " DO[x] = PULSE [,width] " .
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] " .
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.
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] " .
The RO[x] = ON/OFF instruction turns on or off the specified robot digital output signal. See Figure 53, " RO[x] = ON/OFF " .
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] " .
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] " .
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.
The R[x] = AI[x] instruction stores the value on an analog input channel in a register. See Figure 56, " R[x] = AI[x] " .
The AO[x]=value instruction sends a value on an analog output channel. See Figure 57, " AO[x] = value " .
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.
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] " .
The GO[x]=value instruction sends the binary equivalent of a value on the specified group output lines. See Figure 59, " GO[x] = value " .
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.
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.
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 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.