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DI[x] = ON+

DI[x] = OFF-
GI[x] = value

These conditions can be used in a regular WAIT statement or in a Mixed Logic WAIT statement.
For example:

1: WAIT DI[1]=ON AND DI[2]=ON AND


:
DI[3]=ON
1: WAIT DI[1]=ON OR DI[2]=ON OR
: DI[3]=ON
1: WAIT ((DI[1]=ON OR (DI[2]=ON AND
: DI[3]=ON)) AND DI[4]=ON+)

Only the conditions listed above are supported. Other conditions are not supported, such as:

DI[1] <> ON
DI[1] = R[1]
DI[1] = DI[2]
DI[1] = DI[R[1]}
DI[1] = AR[1]

The WAIT instruction can contain other condition clauses such as:

1: WAIT DI[1]=ON AND R[2]= 10

If the WAIT instruction is satisfied before the timeout period and all the monitored digital inputs have
not been satisfied, the specified digital output will not turn on when the timeout period expires.

This section contains information on the signal definitions of User Operator Panel (UOP) signals.
Refer to Section 6.2 for information on setting up UOP signals.

You can set up and configure UOP I/O from the I/O UOP In/Out Monitor screen.

   
   

                          

ITEM DESCRIPTION

I/O [ #] This item is the signal number of the UOP input or output.

STATUS This item indicates the current status of the selected signal. To change this value,

1. Move the cursor to the appropriate line.

2. Move the cursor to the STATUS column.

3. Press F4, ON, or press F5, OFF.

COMMENT This item is a comment field into which you can type information pertaining to the signal.
To type a comment,

1. Move the cursor to the appropriate line.

2. Press F4, DETAIL. If you do not see DETAIL, press NEXT.

3. Press ENTER.

4. Type the comment.

5. Press ENTER.

6. Press PREV to return to the I/O UOP In/Out Monitor screen.

You can configure the range, rack, slot, and start values from the I/O UOP In/Out Configure screen.
   
                 !          

ITEM DESCRIPTION

I/O # This item is the number of each signal range.

RANGE This item is a range, or sequence, of signals. To change the range,

1. Move the cursor to the line you want to change.

2. Move the cursor to either the start range or the end range value.

3. Type the new value.

4. Press ENTER.

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                 !           #     $ % &

RACK This item is the physical location on which the I/O board or module is mounted. To change
the rack value,

1. Move the cursor to the line you want to change.

2. Move the cursor to the RACK column.

3. Type the new value.

4. Press ENTER.

SLOT This item is the space on the rack where the I/O module is connected. To change the slot
value,

1. Move the cursor to the line you want to change.

2. Move the cursor to the SLOT column.

3. Type the new value.

4. Press ENTER.

START This item is the port number within the sequence of ports on the board or module. To change
the start value,

1. Move the cursor to the line you want to change.

2. Move the cursor to the START column.

3. Type the new value.

4. Press ENTER.

STAT This item indicates the status of the UOP signal. Status can be one of the following:

ACTIV - assignment was valid at start up and is in effect.

UNASG - assignment has not been made.

INVAL - assignment is invalid based on the digital I/O hardware present when the
controller was turned on.

PEND - assignment is valid but was made since the last time the controller was turned
on and is therefore not active. You must turn off the controller and then turn it back on
to make the change take effect.

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( ) * + , + - . / + 0 1 - 2 3 4 * ) 5 . + + 6 7 8 9 ) 3 * : ; - 2 . < 8 4 + 1 = > 3 ? + 3 * . 3 ? * . 3 : , 5 ) > @ 1 = A * . : 3 > : 3 + + 1 = > . : - )

Table 6–38 lists the correspondence between UOP input signal names, UI signals,
: . : 1 5 3 - . : B ) * - + C

and the HONDA connector pin number. The UOP input signals are listed and described in Table 6–39 .
D E F G

By default, if a process I/O board is connected to the controller, the UOP signals are
automatically assigned as indicated in Table 6–38 . If you do not want to use the UOP signals, you
must do the following:

Use Table 6–38 to set RACK, SLOT, and START PT to zero for all UOP inputs.
Use Table 6–38 to assign at least the first 8 DIN and DOUT ports of the process I/O board (RACK
0, SLOT 1) to some DIN and DOUT signals. Or you can set $IO_UOP_AUTO = FALSE.
   
H                 I    % J 

     K     !                   L   %                 M  N O

*IMSTP UI 1 01

*HOLD UI 2 02

*SFSPD UI 3 03

CSTOPI UI 4 04

FAULT RESET UI 5 05

START UI 6 06

HOME UI 7 07

ENBL UI 8 08

RSR1/PNS1 UI 9 09

RSR2/PNS2 UI 10 10

RSR3/PNS3 UI 11 11

RSR4/PNS4 UI 12 12

PNS5/RSR5† UI 13 13

PNS6/RSR6† UI 14 14

PNS7/RSR7† UI 15 15

PNS8/RSR8† UI 16 16

   P
   
H                 I    % J  #     $ % &

     K     !                   L   %                 M  N O

PNSTROBE UI 17 29

PROD_START UI 18 30

*A normally OFF signal held ON. When it is set to OFF, certain conditions will result. Refer to
the UOP signal definitions.

†Used for motion group 2 in a multiple motion group system.


   
Q      K     !    

     K     !    J     K    

*IMSTP This input is the immediate stop software signal. *IMSTP is a normally OFF signal held ON.
Always active When it is set to OFF, it
UI[1]
Pauses a program if one is running

Immediately stops the robot and applies robot brakes

Shuts off power to the servos

Error code SRVO-037 *IMSTP Input (Group) will be displayed when this signal is lost. This signal
is always active.

R      !

S
           T           %   K     %          %      U K   K   

S
       T   V W  X Y Z W  X N Z   % W  X         V     !    T   V  V   % T  

        %   !   U    K M     V                          

           W  X Y Z W  X N Z   % W X    

*HOLD This input is the external hold signal. *Hold is a normally OFF signal, held ON. When it is set to
Always active OFF, it will do the following:
UI[2]
Pause program execution

Slow motion to a controlled stop and hold

Optional Brake on Hold shuts off servo power after the robot stops

   
   
Q      K     !     #     $ % &

     K     !    J     K    

*SFSPD This input is the safety speed input signal. This signal is usually connected to the safety fence.
Always active *SFSPD is a normally OFF signal held ON. When it is set to OFF it will do the following:
UI[3]
Pause program execution

Reduce the speed override value to that defined in a system variable. This value cannot be
increased while *SFSPD is OFF.

Display error code message SYST009.

Not allow a REMOTE start condition. Start inputs from UOP or SOP are disabled when
SFSPD is set to OFF and only the teach pendant has motion control with the speed clamped.

CSTOPI This input is the cycle stop input. The function of this signal depends on the system variable
Always active $SHELL_CFG.$USE_ABORT.
UI[4] It the system variable $SHELL_CFG.$USE_ABORT is set to FALSE, the CSTOPI input

Clears the queue of programs to be executed that were sent by RSR signals

R      !

R V  [  L W \ \ ]  ^ X [   W ] O I  M        ^ O \  W Z       %     

   %     U    K          K   !    _      

Automatic execution will be stopped after the current program has finished executing.

If the system variable $SHELL_CFG.$USE_ABORT is set to TRUE, the CSTOPI input

Clears the queue of programs to be executed that were sent by RSR signals.

Immediately aborts the currently executing program(s) for programs that were sent to be
executed by either RSR or PNS.

FAULT_RESET This input is the external fault reset signal. When this signal is received the following will happen:
Always active
UI[5] Error status is cleared

Servo power is turned on

The paused program


T            %

   
   
Q      K     !     #     $ % &

     K     !    J     K    

START This input is the remote start input. The function of this signal depends on the system variable
Active when the robot $SHELL_CFG.$CONT_ONLY.
is in a remote condition the START input signal
  V  U    `       [  L W \ \ ]  ^ X [   a  ]  a \ b       ^ O \  W

(CMDENBL = ON)
UI[6] Resumes a paused program

If a program is aborted, the currently selected program starts from the position of the cursor.

the START input signal


  V  U    `       [  L W \ \ ]  ^ X [   a  ]  a \ b        M  W

Resumes a paused program only. The PROD_START input must be used to start a program
from the beginning.

HOME This input is the home input. When this signal is received the robot moves to the defined home
Active when the robot position. You configure the system to do this by setting up a macro program to run when UI[7] is
is in a remote condition received.
(CMDENBL = ON)
UI[7]

ENBL This input is the enable input. This signal must be ON to have motion control ability. When this
Always active signal is OFF, robot motion cannot be done. When ENBL is ON and the System Configuration
UI[8] screen setting Remote/Local setup: is REMOTE, the robot is in a remote operating condition.

RSR 1-4 These items are the robot service request input signals. When one of these signals is received, the
Active when the robot corresponding RSR program is executed or, if a program is running currently, stored in a queue
is in a remote condition for later execution. RSR signals are used for production operation and can be received while an
(CMDENBL = ON) ACK output is being pulsed. See Figure 6–14 .
UI[9-12]

PNS 1-8 These items are program number select input signals. PNS selects programs for execution,
Active when the robot Programs that are selected by PNS are executed using
   %      _    K   !    

is in a remote condition the START input or the PROD_START input depending on the value of the system variable
(CMDENBL = ON) $SHELL_CFG.$CONT_ONLY.
UI[9] - UI[16] The PNS number is output by using the SNO signal (selected number output) and the SNACK
signal (selected number acknowledge) will be pulsed.

   c
   
Q      K     !     #     $ % &

     K     !    J     K    

PNSTROBE This item is the program number select strobe input signal. See Figure 6–15 .
Active when the robot
is in a remote condition
(CMDENBL = ON)
UI[17]

PROD_START This item is the Production Start Input when used with PNS will initiate execution of the selected
Active when the robot program from the PNS lines. When used without PNS, PROD_START executes the selected
is in a remote condition program from the current cursor position. Coordinate with CYCLE START. See Figure 6–15 .
(CMDENBL = ON)
UI[18]

Figure 6–14 and Figure 6–15 provide information about the timing of the signals used with RSR
and PNS.
d e f g h G i j k l m n o n p e q e r f s e t f h t q

CMDENBL Remote Condition


OUTPUT

RSR1
INPUT
16 ms maximum delay
ACK1
OUTPUT
Pulse width is specified in RSR Setup screen.
RSR2
INPUT

ACK2
OUTPUT
RSR3
INPUT

ACK3
OUTPUT

RSR4
INPUT

ACK4
OUTPUT
Another RSR signal can be received while an ACK is being pulsed

   u
d e f g h G i j k v m w D o p e q e r f s e t f h t q

CMDENBL
OUTPUT Remote Condition

PNS 1 8
INPUT Program Number is Selected

PNSTROBE
INPUT While PNSTROBE is ON, program selection modification is not allowed.

PNSTROBE PNS selected program is read within 32 ms from PNSTROBE rising edge.
DETECTION

SNO1 8
OUTPUT

SNACK
OUTPUT
Pulse width is specified in
PNS Setup screen.

PROD_START
INPUT
>
PROGRUN
OUTPUT
Program is run within 32 ms from
the PROD_START falling edge.

( ) * + , + - . / + 0 1 - 2 3 B * ) 5 . + + 6 7 8 9 ) 3 * : ; - 2 . < 8 4 + 1 = > 3 ? + 3 * . 3 ? * . 3 : , 5 ) > @ 1 = A * . : 3 > : 3 + + 1 = > . :

Table 6–40 lists the correspondence between UOP input signals names, UO
- ) : . : 1 5 3 - . : B ) * - + C

signals, and the HONDA connector pin number. The UOP has the output signals that are listed
and described in Table 6–41 .
D E F G

By default, if a process I/O board is connected to the controller, the UOP signals are
automatically assigned as indicated in Table 6–40 . If you do not want to use the UOP signals, you
must do the following:

Use Table 6–40 to set RACK, SLOT, and START PT to zero for all UOP outputs.
Use Table 6–40 to assign at least the first 8 DIN and DOUT ports of the process I/O board (RACK
0, SLOT 1) to some DIN and DOUT signals. Or you can set $IO_UOP_AUTO = FALSE.

  c x
   
y z       K               I    % J 

      K     !                   L   %                 M  N O

CMDENBL UO 1 33

SYSRDY UO 2 34

PROGRUN UO 3 35

PAUSED UO 4 36

HELD UO 5 38

FAULT UO 6 39

ATPERCH UO 7 40

TPENBL UO 8 41

BATALM UO 9 43

BUSY UO 10 44

ACK1/SNO1 UO 11 45

ACK2/SNO2 UO 12 46

ACK3/SNO3 UO 13 19

ACK4/SNO4 UO 14 20

SNO5/ACK5† UO 15 21

SNO6/ACK6† UO 16 22

SNO7/ACK7† UO 17 24

SNO8/ACK8† UO 18 25

SNACK UO 19 26

RESERVED UO 20 27

†Used for motion group 2 in a multiple motion group system.

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y Y       K     !    

      K     !    J     K    

CMDENBL This item is the command enable output. This output indicates that the robot is in a
UO[1] remote condition. This signal goes on when the System Configuration screen setting
Remote/Local setup: is REMOTE. This output only stays on when the robot is not in a
fault condition. When SYSRDY is OFF, CMDENBL is OFF. See Figure 6–14 and Figure
6–15 . This signal goes on when the following conditions are .
         %

Teach pendant disabled

System Configuration screen setting Remote/Local setup: is REMOTE

SFSPD input is ON

ENBL input is ON

$RMT_MASTER system variable is 0

Not in single step mode

Mode selection switch is set to AUTO (when mode select switch is installed)

SYSRDY This output is the system ready output. This output indicates that the servo motors
UO[2] are turned on.

PROGRUN This item is the program run output. This output turns on when a program is running.
UO[3]

PAUSED This output is the paused program output. This output turns on when a program is
UO[4] paused.

HELD This output is the hold output. This output turns on when the SOP HOLD button has
UO[5] been pressed, or the UOP *HOLD input is OFF.

FAULT This output is the error output. This output turns on when a program is in an error
UO[6] condition.

ATPERCH This output is the at perch output. This output turns on when the robot reaches the
UO[7] predefined perch position. When $SHELL_WRK.$KAREL_UOP=FALSE, then the
system sets $ATPERCH. The .
O   W M  L K        | M    K        } Y

TPENBL This output is the teach pendant enable output. This output turns on when the teach
UO[8] pendant is on.

BATALM This output is the battery alarm output. This output turns on when the CMOS RAM
UO[9] battery voltage goes below 2.6 volts or if robot battery voltages are low.

BUSY This output is the processor busy output. This signal turns on when the robot is executing
UO[10] a program or when the processor is busy.

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y Y       K     !     #     $ % &

      K     !    J     K    

ACK 1-4 These items are the acknowledge signals output 1 through 4. These signals turn on
UO[11-14] when the corresponding RSR signal is received. See Figure 6–14 .

SNO 1-8 These items are the signal number outputs. These signals carry the 8 bit representation
UO[11] - UO[18] of the corresponding PNS selected program number. If the program cannot be
represented by an 8 bit number, the signal is set to all zeros or off.

SNACK This output is the signal number acknowledge output. This output is pulsed if the
UO[19] program is selected by PNS input. See Figure 6–15 .

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.

The cell I/O menu contains two types of items. One type is the standard system-provided items. The
second type is items that the user can define and use to communicate with the PLC or in his TP
programs.

For example, in the tables below, Heartbeat is a system-provided digital output. The user can only
assign a digital output to the heartbeat item. The robot controller will turn the assigned output on
and off in an alternate fashion every 1 second (by default) when the robot is alive. An example
of a user-defined item is "User out 1". In this case, you can assign it to an output. Then in the
TP program, you can turn the digital output on or off as needed by using the system variable
$CELLIO.$DO_UCFGN_I where n = 1 to 10. Users might find it beneficial when they are doing
many similar projects where the I/O assignments are different but the TP program is the same. The TP
program code might look like this:

1: R[1]=$CELLIO.$DO_UCFG1_I ;
2: DO[R[1]]=ON ;

The cell I/O menu should be set up after the user has completed the setup of the "Prog Select" menu
under Setup. Depending upon the selections in the Prog Select menu, the items in the cell I/O menu
can vary. For example, you will see the digital outputs for Style Ack only if you select STYLE as the
Program Select mode in the "Prog Select" menu.

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