CADM MC600
Robotics
Input & output
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2
objectives
Use I/O signals
Types of hardware
Configure I/O
Monitoring and controller I/O
Setup and apply Group I/O
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Inputs and outputs (i/o)
Electrical signals that enable the
controller to communicate with:
– Robot
– End-of-arm tooling
– Sensors
– Actuators
– Other equipment
I/O can be hardware, signals, or
application-specific functions
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i/o signals
The controller core software views I/O as signals
– Output can be turned on and off, or set to a value if
supported
– Inputs can be read, their values stored, and decisions
made
I/O signals are identified by kind and number,
for example:
– DI[1] = Digital Input #1
– GO[2] = Group Output #2
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Possible types of controller i/o
User Operator Panel I/O (UI, UO)
Standard Operator Panel I/O (SI, SO)
Robot I/O (RI, RO)
Digital I/O (DI, DO)
Group I/O (GI, GO)
Analog I/O (AI, AO)
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User operator panel (UOP) I/O
Provides 18 inputs and 20 or 24 outputs (4 are
optional)
– Can be connected to a remote device (PLC) or a
remote operator panel to control the robot.
Most UOP I/O signals are active when the robot
is in a remote condition, with safety signals
always active.
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User operator panel (UOP) I/O
For systems with a process I/O board.
– UOP signals are configured by default to dedicated
ports.
NOTE: if you configure UOP I/O, the physical
locations are actually DI/DO on the physical
I/O
– Physical DI/DO can be double configured as both
UI/UO and DI/DO.
– This allows you to control and monitor UI/UO within
your program using DI/DO instructions.
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Standard operator panel (SOP) I/O
Correspond to internal controller
software panel DI/DO signals that
control the operator panel.
– You cannot change SOP I/O assignments
– It can be useful to display SOP I/O
assignments during troubleshooting
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Robot i/o
• Consist of the input and output signals between the robot
and the controller.
• The number of RI/RO signals varies depending on the
robot model.
• These signals are sent to the End Effector (EE) connector
located on the robot. The standard setup is 8 Inputs and 8
Outputs for a total of 16 points.
• These are 24v DC digital signals but are always hardwired
to a connector marked "EE" (End Effector) located on the
robot itself.
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Digital i/o
• A control signal sent to or from the controller
• Can have only one of two possible states – ON
or OFF
• Provide access to data on a single input or output
signal line
• You can configure digital output signals to be
controlled independently or in complementary
pairs
• You can configure digital input/output signals
with normal polarity (active ON) or inverse
polarity (active OFF).
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R-30iA mate i/o
The R-30iA Mate controller has 28 digital internal
inputs and 24 digital outputs which are available
without any additional controller hardware
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R-30ia mate i/o (contd.)
The M-1iA uses the internal digital outputs to
control the End of Arm Tooling (aka: gripper)
The LR200iC has an additional 6 outputs and 6
inputs known as Robot I/O to control the End of
Arm Tooling
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Group i/o
• Made up of a sequence of digital I/O signals,
interpreted as a binary integer
• A group of 16 “1”s and “0”s, indicating ON or
OFF
• Each bit in a group is a single digital input or
output, with unused bits assigned “0”
• If you group your digital I/O, you can control and
monitor the sequence of I/O signals within your
program by setting or reading a single group using
group I/O instructions
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Analog i/o
• An input or output voltage that has a value within
the range of the I/O board or module used.
• Analog input devices convert external analog
signals into numeric signals for use by the
controller.
• Typical values are from –10 volts to 0 volts, or
from 0 volts to +10 volts (depending on the device
used in your controller).
• For teach pendant programs, analog data is
converted into digits and then read by the program
as numbers.
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Model a (modular) i/o
• Discrete I/O modules
• Communicates with CPU through interface
module
• Requires backplane in controller
• Digital in/out
• 8/16/32 inputs
• Analog in/out
• 2/4 channels
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Model B (distributed) i/o
• Discrete I/O modules
• Can have both input and output on same unit
• Digital Only
• 24v DC or 120v AC
• Serial communications with CPU via
interface module
• No backplane required
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i/o hardware options
• Robot I/O Process
• Process I/O
Model A
• Model A (modular)
Model B
I/O
• Model B (distributed)
I/O
ControlNet
• DeviceNet
Profibus
• ControlNet
Ethernet IP
• Profibus
• Ethernet IP
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Rack assignment
• The rack is the first part of the address for an I/O
signal
• It is the physical location where the module or
board is mounted
• The following ground rules apply to assigning I/O
rack numbers
− Model A or Model B I/0 Starts at rack 1
− Racks are numbered sequentially
− PLC I/O uses rack 16
− Devicenet uses rack 81-84
− Controlnet uses rack 85/86
− EtherNet uses rack 89
− Profibus uses rack 67
− Mate Controller uses rack 48
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Slot assignment
• The slot is the 2nd part of the address for an I/O
signal
• The slot number distinguishes individual I/O
modules on a rack (1st part of address signal)
• Identifies space on the rack where the individual
module is connected
• The following rules apply to slot assignment
− Valid numbers are 1 through 10, no letters
− Slot numbers are assigned sequentially
− The first process I/O board is always assigned slot 1
− Slot numbers cannot be used twice in the same rack
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Starting point/channel assignment
• Starting points-digital signals
The physical position on the I/O module
or process I/O board
that identifies the first port in a range
• Channel-Analog Signals
Physical position of the port on a process
I/O
Terminal number for modular I/O
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Model a – starting point assignment
Rack 1
Open Slot/Card 5
Channel
(analog)
or Starting
Point (digital)
Interface
module Slot 1 Slot 2
Slot 0 input Slot 3 Slot 4
output
card input output
card
card card
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Configuration example using model a i/o
Channel
(analog)
or Starting
Point
(digital)
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Group input/output
DO[1] DO[2] DO[3] DO[4] DO[5]
1 2 3 4 5
Binary Bits 1 2 4 8 16
1: GO [1] = 17
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Binary integer
GROUPED INPUT
B in a r y In t e g e r
D I[6 ] D I[5 ] D I[4 ] D I[3 ] D I[2 ] D I[1 ] Count V a lu e
Binary Bit Values 32 16 8 4 2 1
0 0 0 0 0 0 0 = 0
0 0 0 0 0 1 1 = 1
0 0 0 0 1 0 2 + 0 = 2
0 0 0 0 1 1 2 + 1 = 3
0 0 0 1 0 0 4 + 0 + 0 = 4
0 0 0 1 0 1 4 + 0 + 1 = 5
0 0 0 1 1 0 4 + 2 + 0 = 6
0 0 0 1 1 1 4 + 2 + 1 = 7
0 0 1 0 0 0 8 + 0 + 0 + 0 = 8
0 0 1 0 0 1 8 + 0 + 0 + 1 = 9
0 0 1 0 1 0 8 + 0 + 2 + 0 = 10
0 0 1 0 1 1 8 + 0 + 2 + 1 = 11
0 0 1 1 0 0 8 + 4 + 0 + 0 = 12
0 0 1 1 0 1 8 + 4 + 0 + 1 = 13
0 0 1 1 1 0 8 + 4 + 2 + 0 = 14
0 0 1 1 1 1 8 + 4 + 2 + 1 = 15
IN P U T S T A T U S
1 =O N
0 =O FF
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Configuring group i/o
• Digital Input/Outputs are made up of a sequence of
digital I/O signals. These are interpreted as binary
integer
• Configured by Rack, Slot, Starting Point, and Number
of Points
• Minimum of 2
• Maximum of 16
• Points must be adjacent, no skips between points
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Monitoring i/o
• Monitoring I/O
• This can be done for each type of I/O main
screen
• At the monitor screen, press NEXT > and you
can sort the signals either by number or
alphabetically by comment
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WARNING:
BEFORE FORCING ANY OUTPUTS
OR SIMULATING ANY INPUT SIGNAL
BE SURE THAT IT IS SAFE TO DO SO.
SIGNALS SHOULD BE FORCED/SIMULATED
FOR TESTING AND TROUBLESHOOTING
PURPOSES ONLY.
AFTER COMPLETION OF TESTING OR
TROUBLESHOOTING BE SURE TO RETURN ALL
I/O SIGNALS TO THEIR NORMAL CONDITION.
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Forcing i/o
Forcing I/O
– We can view the status of each signal
– We can force output signals to check the operation of
peripheral devices
Inputs must be simulated before they can be forced ON or OFF
DI[1] has been
simulated and
forced ON
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Simulating i/o
Simulating a signal allows us to change the bit
for the signal without a signal actually going
into or out of the controller
By simulating an input signal, then
switching it on, we can test program
response to an input without actually
receiving a signal from outside the
controller
By simulating outputs we can test a
program even if we don't want peripheral
devices connected to the controller to
operate.
Simulating i/o
When signals are simulated, no switching of I/O
hardware can occur, so signals must be unsimulated
before normal operation takes place
We can easily unsimulate all I/O at once by
pressing FCTN, UNSIM ALL I/O
− Simulation Output
An output can be configured through the
System/Config screen to turn on, if any Input is
Simulated.
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Develop i/o specifications
• List all Inputs and Outputs
• Identify source and destination
• Electrical Characteristics
• Signal Names
• Protocols
• Timing diagrams
macros
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Macro programs
Overview
– A Macro is any program assigned the subtype
Macro at creation
– A Macro, unlike ordinary programs, may be
conveniently executed from the MANUAL
FUNCTIONS screen or external signal.
Predefined Macros
– These programs perform functions commonly
associated with the application software.
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Create/setting macros
Creating Macros
– You can create your won Macros for repetitive tasks or any
purpose you want.
– If you press [DETAIL] from the Select menu, you will be able to
modify the program’s Header settings … subtype is where we can
designate a program to be a Macro.
– If you create a program from the Select menu the [TYPE] set to
Macro, the created program will automatically be given the
subtype Macro
– When setting up the Macro Table, any program you place into the
Table will automatically be given the subtype Macro
A MACRO is not truly functional until it is populated in the
MACRO Table
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Macro table assignments
• You can create your own MACRO Instructions using the MACRO
Table
• These Instructions are available globally to all your programs
• When inserted into a program they act as a local CALL statement
• You can also place any desired MACRO Functions onto a menu you
create … Manual Functions MACRO’s
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Macro start assignments
• Macros can be assigned to start by these
methods:
• In Manual Mode (TP turned ON)
• Teach Pendant User Keys (UK / SU)
• Manual Functions Screen
• In Automatic Mode (TP turned OFF)
• Digital and Robot Inputs (DI and RI)
• SOP User buttons (SP)
• Activated during program execution
• MACRO Instruction from within a Program
(Instruction name)
• CALL instruction from within a Program
(Program name)
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macro
• You can set up a macro to
run when a TP key is
pressed alone or with the
shift key.
– Any motion programs
must be mapped to a
SU Key.
– You can define up to
fourteen macro
commands to run the
Teach Pendant.
– Programs mapped to
any UK (key) must
have their group map
set to [*,*,*,*,*,*,*,*].
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Manual functions: macros
• Appear in the order set by the MF# on
your MACRO Table
• Provides a descriptive Instruction you
have created
• Allows quick execution using SHIFT +
EXEC
• Easy access to important commands
- or -
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Setting up macro commands
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Executing Macro Commands
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Assigning a macro
