In the previous article, we introduced the main startup interface of the Siasun teach pendant. Today, let's learn how to configure I/O signals in the Siasun robot operating software. I/O signals play a crucial role in industrial automation; they are the bridge for communication between devices and the foundation for data acquisition and logical judgment.
01|Signal Configuration
Click "STEP" > Parameter Configuration > Signal Configuration to enter the IO signal configuration interface. See the image below:
02|IO Configuration
The IO configuration includes six configuration pages: DI, DO, AI, AO, GDI, and GDO. DI is used to configure digital input signals, DO is used to configure digital output signals, AI is used to configure analog input signals, AO is used to configure analog output signals, GDI is used to configure group digital input signals, and GDO is used to configure group digital output signals.
Select the DI page to enter the digital input signal configuration interface. Up to 2048 DI signals can be configured, with ports ranging from 1 to 2048. In the DI configuration interface, the first column displays the DI signal name, the second column displays the I/O signal type, the third column displays the DI port number, and the fourth column displays the DI signal description. If the name or description is too long to display completely, you can drag the display box to show the full name.
Clicking the "Add" button in the DI configuration interface will bring up an edit box for adding DI signals, as shown in the following figure:
Enter the name of the added DI signal in the Name field. The signal name cannot be in Chinese. Enter the DI port number in the Port Number field. The port number cannot be a port number that has already been used, that is, it cannot be the same as the port number of other DI signals. You can enter Chinese in the Comments field to explain the meaning of the signal.
In the DI signal editing interface, you can modify the name, port number, and comment of the DI signal. If you don't need a certain DI signal, you can select the signal, click "Delete," and a deletion confirmation box will pop up. Click the "Yes" button to delete it.
After modifying the DI page configuration, you must click "Save" for the changes to take effect; otherwise, the DI configuration will be invalid.
Click DO to enter the digital output signal configuration interface. A maximum of 2048 DO signals can be configured, with port numbers ranging from 1 to 2048.
Clicking the "Add" button in the DO configuration interface will bring up an edit box for adding DO signals, as shown in the following figure:
Enter the name of the added DO signal in the Name field. The signal name cannot be in Chinese. Enter the DO port number in the Port Number field. The port number cannot be a port number that is already in use. You can enter Chinese characters in the Comment field to explain the meaning of the signal.
In the DO signal configuration, there is a "Reset Option". Clicking this box will display the DO signal reset configuration interface. When the reset conditions are met, the DO signal will automatically jump to the signal state selected in the reset data.
After modifying the configuration on the DO page, you must click "Save" for the changes to take effect; otherwise, the DO configuration will be invalid.
03|System I/O
Select the "System I/O" option to enter the system signal configuration interface. By configuring the system I/O, you can enable external signals to control the robot's operating status and allow the robot to output its own status to the outside world.
The default program requires configuration of the project and program. Programs 1 to 4 require configuration of the port number, project and program. Other signals only require configuration of the port number.
When the default program is configured and there are no input signals for programs 1 to 4, the external input "load" signal will automatically load the program configured in the default program; when there are signals on the ports of programs 1 to 4, the external input "load" signal will automatically load the program configured in programs 1-4.
Robot startup sequences can be divided into two categories: those using "distributed operation" startup procedures and those using "one-click operation" startup procedures.
Example of configuring "one-click run" to launch the program.
The pause and run signals in the system signals are effective in both external automatic and automatic modes. When starting a program in external automatic mode, the pause and stop signals in the system signals are checked. If either the pause or stop signal is high, the program cannot start. When starting a program in automatic mode, the pause signal in the system signals is checked. If the pause signal is high, the program cannot start.
The robot cannot save the program when it is running or loading. If you switch to another page without clicking the "Save" button, all previous configurations will be lost and you will need to reconfigure them.
04|IO Binding
Using "DI to DO binding" and "DO to DI binding", you can directly assign a value from a DI to a DO or vice versa without writing any code.
For example, in "DO and DI Binding", if you set the DI port to 10 and the DO port to 10, when the TRUE signal is input to DI10, DO10 will also output the TRUE signal.
05|IO Mapping
Select the "IO Mapping" option to enter the IO logic configuration interface.
You can perform AND, OR, and NOT logical operations on DI and DO. For example, clicking the "Add" button at the bottom of the page will bring up the following pop-up window.
The left-hand value can be either DI or DO, followed by the port number. The right-hand value can also be either DI or DO, and the values of the five DI or DO values can be associated together using AND or OR logical operators. Each DI or DO value can be inverted, and finally, an expression is generated and assigned to the left-hand value, as shown in the following figure:
The operation in the first row of the table means inverting DI2, ANDing it with DO3, ORing it with the inverted value of DI1, and then assigning the value to DO4.
06 | IO Statements
The Xinshida robot control system has a rich set of I/O signal instructions. In the program, select "New," then click "IO Statement" to find them. Select the required I/O signal statement, click "OK" to enter the statement's configuration interface, and finally click "OK" to add the statement to the program.
6.1: Common Usage of Waiting for DI Signal Input
▉ DIWait(Converyor_OK,TRUE)
The program can continue to the next line when the digital input signal Converyor_OK is TRUE; otherwise, it will wait on the current line.
▉ bool0:=DIWait(Converyor_OK,TRUE,int0)
When the digital input signal Converyor_OK is set to TRUE within the specified time int0, the program jumps to the next line and bool0 is set to TRUE; when Converyor_OK is not set to TRUE within the specified time int0, the program will also jump to the next line, but bool0 will be set to FALSE.
6.2: Common Uses of DO Signal Output
▉ DOPulse(Converyor_run,TRUE,Ms2000)
Sets the DO signal Converyor_run to TRUE for 2000ms. The DOSet statement is used to set a specified value for an external DO port.
For example, DOSet(Converyor_run,TRUE) sets the value of the port containing the signal Converyor_run to TRUE.
For more information on using IO signal statements, please refer to the STEP Robot User Programming Manual.
That's all for today's operating tips. If you have any questions about "how to configure IO signals in the Siasun robot operating software," feel free to leave a comment below. See you next time!
