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
Press MENU.
Select I/O.
Press F1, [TYPE].
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 :
|
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 |