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Tutorial 5 Robot Studio – IO Signals

1. IO Board and IO Signal Creation

1.1 I/O boards

Robot generally has one or more I/O board(s).

Each of the boards has several digital and/or analog channels that must be connect to logical signals before they can be used.

A physical channel can be connected to several logical names, but can also have no logical connections.

Physical Channel Logical Signal IN1 do1 IN2 feeder IN16 I/O BOARD gripper OUT1 OUT2 do2
Physical Channel
Logical Signal
IN1
do1
IN2
feeder
IN16
I/O BOARD
gripper
OUT1
OUT2
do2
feeder2
OUT16
do16

1.2 Input and output signals

Robot can be equipped with a number of digital and analog user signals that can be read and changed from within the program.

The signal names are defined in the system parameters, and the signals can be read from the program by using these names.

The value of a n analog signal of a group of digital signals is specified as a numeric value.

1.3 Teach pendant

1. Teach Pendant simulates the robot controller teach pendant, and let your work with the Virtual Controller exactly the same way as with the real Controller.

2. Teach Pendant starts accompanied by

Control Panel, and

Joystick windows

Tutorial 5 Robot Studio – IO Signals

2007

Tutorial 5 Robot Studio – IO Signals 2007 1.4 Create I/O signals with Teach Pendant 1.

1.4 Create I/O signals with Teach Pendant

1. Set Control Panel in Manual Mode (<250)

Teach Pendant 1. Set Control Panel in Manual Mode (<250) 2. Create I/O unit (board) Misc.
Teach Pendant 1. Set Control Panel in Manual Mode (<250) 2. Create I/O unit (board) Misc.

2. Create I/O unit (board) Misc. window System Parameters Add key in parameter information

2. Create I/O unit (board) Misc. window System Parameters Add key in parameter information Page 2
2. Create I/O unit (board) Misc. window System Parameters Add key in parameter information Page 2
2. Create I/O unit (board) Misc. window System Parameters Add key in parameter information Page 2

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Tutorial 5 Robot Studio – IO Signals

2007

3. Create I/O signals

Types menu User Signals Add Key in parameter information (DO or DI)

Signals Add Key in parameter information (DO or DI) 4. Restart Robot Studio to enable the
Signals Add Key in parameter information (DO or DI) 4. Restart Robot Studio to enable the

4. Restart Robot Studio to enable the newly created IO unit.

1.5 IO Simulator

The IO Simulator displays the current state of digital input and output signals during program execution. It allows you to set and reset both digital inputs and outputs. This feature is useful for testing robot programs that may set outputs or wait on certain input states before continuing.

In Robot Station, click on Robot under Components directory in Object browser.

Mechanism menu IO Simulation…

The IO Simulator automatically configures itself with the IO boards and signals in use by the Virtual Controller. A yellow light indicates the input or output is on, while a black light indicates it is off. A panel is light gray if the input or output is defined, while a dark gray panel indicates it is undefined.

defined, while a dark gray panel indicates it is undefined. 1.6 Event Table With the event

1.6 Event Table

With the event table actions can be simulated when a specified event occurs. For instance, you can attach an object to a gripper when the gripper reaches the object, or when an I/O signal is set.

In Robot Station, Simulation menu Event Table…

reaches the object, or when an I/O signal is set. In Robot Station, Simulation menu Event

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Tutorial 5 Robot Studio – IO Signals

2007

2. Tutorials

In this tutorial, you will learn how to

Create an IO unit with Teach Pendant

Define User Signals with Teach Pendant

Use Event Table to attach, move, and detach objects

2.1 Prepare the station

1. Create a New Station.

2. Import Library…: (robot) Irb640_M98-M2000.rlb

3. Import Library…: (tool) \Library\Tools\Gripper_PBT.rlb, and attach it onto the robot.

4. Import Library…: (tool) two pallets: \Library\Equipment\Euro_pallet\euro_pallet.rlb. Reposition them to (500, 750, 0, 0, 0, 0) and (500, -1550, 0, 0, 0, 0) respectively.

5. Create Part: A box with length=1000, width=500, height=500.

6. Rename the part as Box.

7. Reposition the Box to (600, -1400, 145, 0, 0, 0)

8. Setup Controller by Create copy from IRB640_M2000, and Rename the copy to IRB640_tut5_*(your ID).

9. Start Controller.

10. Save the station as Event_tut5_*(your ID) to your folder.

2.2 Create target and path

1. Create target

Target1:1 Rename to Pick_1:1

Target2:1 Rename to Pick_2:1

Target3:1 Rename to Midway:1

Target4:1 Rename to Drop_1:1

Target5:1 Rename to Drop_2:1

(1100, -1150, 1000, 0, 180, 0)

(1100, -1150, 645, 0, 180, 0)

(2000, 0, 1300, 0, 180, 0)

(1100, 1150, 1000, 0, 180, 0)

(1100, 1150, 645, 0, 180, 0)

2. Create path (Path1): drag the targets to Path1, and the sequence will be:

Pick_1:1 Pick_2:1 Pick_1:1 Midway:1 Drop_1:1 Drop_2:1 Drop_1:1

3. Change the Motion Type of ‘Pick_2:1’, and the following ‘Pick_1:1’, ‘Drop_2:1’ and the following Drop_1:1’ to ‘MoveL’.

4. In Program Browser, under Program Modules, Insert module, and the Insert main procedure under

Module1.

5. In Object Browser, Right-click Path1, and Sync to VirtualController.

6. In Program Browser, drag Path1 and drop it to main.

7. In Object Browser, Right-click Path1, and Move Along Path. Look at the movement of the robot.

8. Make the robot Move to Home, by holding ‘Ctrl’ key and press on ‘Home’ key on the Key Board.

Tutorial 5 Robot Studio – IO Signals

2007

2.3 Create IO unit and User Signals

1. Mechanism menu Teach Pendant…

2. In Control Panel window, select <250 under Mode.

2. In Control Panel window, select <250 under Mode . 3. Press Misc. window key Enter

3. Press Misc. window key Enter key on the Teach Pendant.

4. Topics menu IO Signals

, then select System Parameters by using the Navigation keys and

Create an IO unit

5. Types menu Units

6. Use Function keys, press Add to add a new unit.

7. Select/key in the following information:

Unit Name:

tut5

Unit Type:

d328

Unit Bus:

BASE

Address:

1

Digital Inputs:

10

Digital Outputs:

10

Roll Rate:

1000

8. OK, and press Enter key to proceed.

Create IO Signals

9.

Types menu User Signals

10.

In Function keys, press Add to add a new unit.

11.

Add a DO signal by key in or select:

Signal Name:

do_pick

Unit Name:

tut_5

Signal Type:

DO

Signal Number:

1

13.

OK

14.

Add a DI signal by key in or select:

Signal Name:

di_attach

Unit Name:

tut_5

Signal Type:

DI

Signal Number:

1

15.

OK

16.

Close the Teach Pendant

tut_5 Signal Type: DI Signal Number: 1 15. OK 16. Close the Teach Pendant Page 5
tut_5 Signal Type: DI Signal Number: 1 15. OK 16. Close the Teach Pendant Page 5
tut_5 Signal Type: DI Signal Number: 1 15. OK 16. Close the Teach Pendant Page 5

Tutorial 5 Robot Studio – IO Signals

2007

17. Save the robot station: Event_tut5_*(your ID).

18. Exit RobotStudio.

* RESTART of RobotStudio is required for enabling the newly created IO unit.

2.4 Define the Event Table

1. Restart the RobotStudio, and Open Event_tut5_*(your ID).

2. In Object Browser, click on the Robot under Components directory.

3. Mechanism menu IO Simulator…

Note that an input signal (di_attach) and an output signal (do_pick) are presented.

4. Close the I/O Screen window.

5. Simulation menu Event Table

6. Click Add Entry button four times.

7. Fill in the Event Table as shown in the picture:

times. 7. Fill in the Event Table as shown in the picture: 8. OK . 2.5

8. OK.

2.5 Edit program

1. Mechanism menu Teach Pendant…

2. In Control Panel window, select <250 under Mode.

3. Click Program window key and set to Instruction mode by clicking on Instruction function key if necessary.

4. View menu Routines

5. Highlight Path1, and press Enter key on the Teach Pendant.

Note that the program instructions are shown in the window.

6. Move the cursor to ‘ConfL\off;’

Tutorial 5 Robot Studio – IO Signals

2007

7. IPL2 menu Motion Adv MoveAbsJ. (Make sure the robot is in home position before enter this instruction)

8. A name can be given to the home position, by

(1)

Highlight the ‘*’, and press Enter key

(2)

Select New…, and press Enter key

(3)

You can accept the default name by click OK, or

(4)

Change it by pressing Enter key, then ‘key’ in a desired name (e.g. ‘P_Home’), and OK

9. Move cursor to the instruction ‘MoveL Pick_2, … …

10. IPL1 menu IO Set (or Common Set)

11. Select do_pick, and OK.

12. IPL1 menu Common More WaitTime: 1 (seconds)

13. Copy instruction ‘WaitTime 1and Paste it before ‘Set do_pick’ instruction.

14. Change the zonesize of instruction ‘MoveL Midway, …’ from fine to z50.

15. Move cursor to the instruction ‘MoveL Drop_2, …’

16. IPL1 menu IO Reset

17. Select do_pick, and OK.

18. Add WaitTime 2 before and after the ‘Reset do_pick’ instruction.

19. Modify the speed of instruction ‘MoveL Pick_2, … …’ and ‘MoveL Drop_2, … …’ from ‘v1000’ to

v500’.

20. Copy instruction ‘MoveAbsJ P_Home\NoEOffs, …’, and Paste it to the end of the program.

2.6 Test program

1. In Control Panel window of the Teach Pendant, select 100% under Mode.

2. Change the Program window, from Instruction mode to Test mode.

Program window, from Instruction mode to Test mode. 3. On the Teach Pendant , press the

3. On the Teach Pendant, press the List key upper part.

4. Change the Speed to 50%, and Running to ‘Cycle’.

to move the cursor from lower part of the window to

the Speed to 50% , and Running to ‘ Cycle ’. to move the cursor from

Tutorial 5 Robot Studio – IO Signals

2007

5. Press the List key again to move the cursor back to the lower part of the window.

6. Press Start to test the program. (Make sure Safety Pad and Hold To Run are selected)

7. Save the program as \Event_tut5_*(your ID) to your folder.

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