CONFIGURING AB-RIO


CONFIGURING AB-RIO

1.  CONFIGURING AB-RIO

1.  Configuring the AB-RIO Interface on the Robot

Configuring the AB-RIO interface is done using the teach pendant. Use Configuring the AB-RIO Interface on the Robot to configure the AB-RIO Interface on the robot. Refer to Table 1, " Configuration Setup Items " for information on each item that needs to be configured. Refer to Table 2, " Rack Numbers in Decimal Format and Octal Format " for information on rack numbers in decimal format and octal format.

Procedure 1.  Configuring the AB-RIO Interface on the Robot

  1. Press MENU.

  2. Select I/O.

  3. Press F1, [TYPE].

  4. Select AB-RIO. You will see a screen similar to the following.

I/O AB-RIO                   JOINT 10
AB-RIO Configuration (Rack 16)    1/7
  Baud Rate      : 230.4K
  Error Severity : STOP
  Last State     : ZERO
  Slot  Rack   Strt_Grp  Size   Status
    1     0        0     NONE   INACTIVE
    2     0        0     NONE   INACTIVE
    3     0        0     NONE   INACTIVE
    4     0        0     NONE   INACTIVE

Table 1.  Configuration Setup Items

ITEM DESCRIPTION
Baud Rate Press the [CHOICE] key to see available choices (57.6, 115.2, and 230.4 kbaud). Select the same baud rate used on the rest of the AB-RIO network.
Error Severity Choose between WARN (F4) and STOP (F5). This effects the severity of the alarm posted when the I/O exchange is not active (alarms PRIO-197 and PRIO-198).
Last State Choose between KEEP (F4) and ZERO (F5). The setting of “KEEP” will leave inputs in their last state if the I/O exchange fails. The setting of “ZERO” will cause the inputs to be set of zero if the I/O exchange fails.
Slot This field cannot be changed. This is used along with Rack 16 to map the specific I/O as digital, group, and/or UOP in the robot.
Rack Enter the rack number that the PLC will communicate with. Note that the robot expects this value in decimal format (0-31) and the PLC may have it displayed in octal format (00-37). See the table below for details.
Start Group Use the [CHOICE] key to set the starting module group as 0, 2, 4, or 6. A full rack is made up of 8 module groups numbered 0-7.
Size Use the [CHOICE] key to set the size as ¼, ½, ¾, full, or none. Setting the size to NONE disables the rack. A ¼ rack represents 32 digital inputs and 32 digital outputs exchanged with the PLC.
Status This field is controlled by the system software. The status will be displayed as :
  • OFFLINE - Enabled, plc not connected, Last state setting applies

  • ONLINE - Enabled and actively communicating

  • TST/PROG - PLC in test/prog mode. Last state setting applies

  • ERROR - rack error detected. Last state setting applies

  • INACTIVE - rack is not configured.

  • NO BOARD - no AB-RIO hardware detected

  • UNDEFINE - undefined state


Note

In all cases a power cycle is required to enable changes.

Table 2.  Rack Numbers in Decimal Format and Octal Format

Decimal Octal Decimal Octal Decimal Octal Decimal Octal
0 0 8 10 16 20 24 30
1 1 9 11 17 21 25 31
2 2 10 12 18 22 26 32
3 3 11 13 19 23 27 33
4 4 12 14 20 24 28 34
5 5 13 15 21 25 29 35
6 6 14 16 22 26 30 36
7 7 15 17 23 27 31 37