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 IN1 IN2

Logical Signal do1 feeder

IN16

I/O BOARD

OUT1 OUT2

gripper 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

1.4 Create I/O signals with Teach Pendant

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

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

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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)

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.

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

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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 3. Import Library: (robot) Irb640_M98-M2000.rlb 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 Target2:1 Target3:1 Target4:1 Target5:1 2. 3. 4. 5. 6. 7. 8. Pick_1:1 Rename to Pick_1:1 Rename to Pick_2:1 Rename to Midway:1 Rename to Drop_1:1 Rename to Drop_2:1 Pick_2:1 Pick_1:1 (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) Midway:1 Drop_1:1 Drop_2:1 Drop_1:1

Create path (Path1): drag the targets to Path1, and the sequence will be: 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. In Program Browser, under Program Modules, Insert module, and the Insert main procedure under Module1. In Object Browser, Right-click Path1, and Sync to VirtualController. In Program Browser, drag Path1 and drop it to main. In Object Browser, Right-click Path1, and Move Along Path. Look at the movement of the robot. Make the robot Move to Home, by holding Ctrl key and press on Home key on the Key Board.
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Tutorial 5 Robot Studio IO Signals

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2.3 Create IO unit and User Signals

1. 2. 3. 4. Mechanism menu Teach Pendant In Control Panel window, select <250 under Mode. , then select System Parameters by using the Navigation keys and Press Misc. window key Enter key on the Teach Pendant. Topics menu IO Signals

Create an IO unit 5. 6. 7. Types menu Units Use Function keys, press Add to add a new unit. Select/key in the following information: Unit Name: Unit Type: Unit Bus: Address: Digital Inputs: Digital Outputs: Roll Rate: 8. tut5 d328 BASE 1 10 10 1000

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: Unit Name: Signal Type: Signal Number: 13. OK 14. Add a DI signal by key in or select: Signal Name: Unit Name: Signal Type: Signal Number: 15. OK 16. Close the Teach Pendant
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do_pick tut_5 DO 1

di_attach tut_5 DI 1

Tutorial 5 Robot Studio IO Signals

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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. 2. 3. 4. 5. 6. 7. Restart the RobotStudio, and Open Event_tut5_*(your ID). In Object Browser, click on the Robot under Components directory. Mechanism menu IO Simulator Note that an input signal (di_attach) and an output signal (do_pick) are presented. Close the I/O Screen window. Simulation menu Event Table... Click Add Entry button four times. Fill in the Event Table as shown in the picture:

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;

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Tutorial 5 Robot Studio IO Signals

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7. IPL2 menu instruction)

Motion Adv

MoveAbsJ. (Make sure the robot is in home position before enter this

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 12. IPL1 menu IO Set (or Common More Set) 11. Select do_pick, and OK. Common WaitTime: 1 (seconds) 13. Copy instruction WaitTime 1 and 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. 2. 3. 4. In Control Panel window of the Teach Pendant, select 100% under Mode. Change the Program window, from Instruction mode to Test mode. to move the cursor from lower part of the window to On the Teach Pendant, press the List key upper part. Change the Speed to 50%, and Running to Cycle.

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Tutorial 5 Robot Studio IO Signals

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5. 6. 7.

Press the List key again to move the cursor back to the lower part of the window. Press Start to test the program. (Make sure Safety Pad and Hold To Run are selected) Save the program as \Event_tut5_*(your ID) to your folder.

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