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4 Topic I/O4.5.1. The Cross Connection type
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4.5 Type Cross Connection
4.5.1. The Cross Connection type
OverviewThis section describes the type Cross Connection which belongs to the topic I/O . Eachparameter of this type is described in a separate information topic in this section.
Cfg nameEIO_CROSS
Type descriptionAn I/O cross connection is a software-configured connection between digital I/O signals thatallow one or several signals to automatically affect the state of other signals.
UsageUsing cross connections is a simple way to interconnect signals and let the system handle I/ O activity without having to execute any RAPID code.
Cross connecting signals is a good alternative if there is an input signal in the process that,
when activated, automatically activates one or several output signals. If logical conditionsbetween several actor signals is needed, the RobotWare option Logical Cross Connections isavailable.
For detailed information on how to use the Logical Cross Connections option, see Application manual - Robot communication and I/O control .
LimitationsThe maximum number of cross connections handled by the system is limited to 100.
Cross connections must not form a chain that is deeper than 20 levels. A chain is formed when
cross connections are interlinked so that a signal that is part of a resultant expression in onecross connection is also part of the actor expression of another cross connection, and so on.The depth of such chain is the number of transitions from the first actor signal to the lastresultant signal.
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4 Topic I/O4.5.2. Resultant
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4.5.2. Resultant
Parent Resultant belongs to the type Cross Connection , in the topic I/O .
Cfg nameRes
DescriptionThe parameter Resultant specifies the digital signal to which the result of the condition
formed by the actor signals will be stored.Whenever the outcome of the condition formed by the actor signals is altered the signal willtake the same value as that outcome.
UsageSpecify the signal that will be effected by the outcome of the condition formed by the actorsignals.
Allowed values
A digital signal that is defined in the system.
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4 Topic I/O4.5.3. Actor 1
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4.5.3. Actor 1
Parent Actor 1 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct1
DescriptionThe parameter Actor 1 specifies the first digital signal that forms the actor expression of the
cross connection.Whenever the value of the signal referred to by Actor 1 is altered, the logical condition formedby the cross connection will be evaluated and the value of the signal referred to by Resultant will be updated (if needed).
UsageSpecify the first of the digital signals that forms the condition that will control the value ofthe signal referred to by Resultant .
If you have the option Logical Cross Connections , the Actor 1 parameter can be part of a more
complex statement formed by combining it with other parameters such as Invert Actor 1 ,Operator 1 , and Actor 2 .
Allowed valuesA digital signal that is defined in the system.
Related information Resultant on page 165 .
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4 Topic I/O4.5.4. Invert Actor 1
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4.5.4. Invert Actor 1
Parent Invert Actor 1 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct1_invert
DescriptionThe parameter Invert Actor 1 specifies whether the inverted value of the signal referred to by
parameter Actor 1 will be used in the evaluation instead of the actual signal value.
UsageThe Invert Actor 1 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 1 should be used.
Limitations Invert Actor 1 can only be used if you have the RobotWare option Logical Cross Connections
Allowed valuesYes or No.
Related information Actor 1 on page 166
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4 Topic I/O4.5.5. Operator 1
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4.5.5. Operator 1
ParentOperator 1 belongs to the type Cross Connection , in the topic I/O .
Cfg nameOper1
DescriptionThe parameter Operator 1 specifies the logical operation to be performed between the signals
referred to by parameter Actor 1 and Actor 2 .
UsageThe Operator 1 parameter is used to specify the logical operation between Actor 1 and Actor2.
If only one actor signal is used, Operator 1 is left out.
PrerequisitesBy specifying Operator 1 it is explicitly demanded that the parameter Actor 2 must also be
specified.
LimitationsOperator 1 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesAND or OR
Related information
Actor 1 on page 166 . Actor 2 on page 169 .
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4 Topic I/O4.5.6. Actor 2
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4.5.6. Actor 2
Parent Actor 2 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct2
DescriptionThe parameter Actor 2 specifies the second digital signal that forms the actor expression of
the cross connection.Whenever the value of the signal referred to by Actor 2 is altered, the logical condition formedby the cross connection will be evaluated and the value of the signal referred to by Resultant will be updated (if needed).
UsageSpecify the second of the digital signals that forms the condition that will control the value ofthe signal referred to by Resultant . If only one actor signal is used, Actor 2 is left out.
Prerequisites Actor 2 will be ignored unless the parameter Operator 1 is specified.
Limitations Actor 2 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesA digital signal that is defined in the system.
Related information Resultant on page 165 .
Operator 1 on page 168 .
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4 Topic I/O4.5.7. Invert Actor 2
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4.5.7. Invert Actor 2
Parent Invert Actor 2 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct2_invert
DescriptionThe parameter Invert Actor 2 specifies whether the inverted value of the signal referred to by
parameter Actor 2 will be used in the evaluation instead of the actual signal value.
UsageThe Invert Actor 2 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 2 should be used.
Limitations Invert Actor 2 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesYes or No.
Related information Actor 2 on page 169 .
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4 Topic I/O4.5.8. Operator 2
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4.5.8. Operator 2
ParentOperator 2 belongs to the type Cross Connection , in the topic I/O .
Cfg nameOper2
DescriptionThe parameter Operator 2 specifies the logical operation to be performed between the signals
referred to by parameter Actor 2 and Actor 3 .
UsageThe Operator 2 parameter is used to specify the logical operation between Actor 2 and Actor3.
If no more than two actor signals are used, then Operator 2 is left out.
PrerequisitesBy specifying Operator 2 it is explicitly demanded that the parameter Actor 3 must also be
specified.
LimitationsOperator 2 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesAND or OR
Related information
Actor 2 on page 169 . Actor 3 on page 172 .
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4 Topic I/O4.5.9. Actor 3
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4.5.9. Actor 3
Parent Actor 3 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct3
DescriptionThe parameter Actor 3 specifies the third digital signal that forms the actor expression of the
cross connection.Whenever the value of the signal referred to by Actor 3 is altered, the logical condition formedby the cross connection will be evaluated and the value of the signal referred to by Resultant will be updated (if needed).
UsageSpecify the third of the digital signals that forms the condition that will control the value ofthe signal referred to by Resultant . If no more than two actor signal are used, then Actor 3 isleft out.
Prerequisites Actor 3 will be ignored unless the parameters Operator 1 and Operator 2 are specified.
Limitations Actor 3 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesA digital signal that is defined in the system.
Related information Resultant on page 165 .
Operator 1 on page 168 .
Operator 2 on page 171 .
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4 Topic I/O4.5.11. Operator 3
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4.5.11. Operator 3
ParentOperator 3 belongs to the type Cross Connection , in the topic I/O .
Cfg nameOper3
DescriptionThe parameter Operator 3 specifies the logical operation to be performed between the signals
referred to by parameter Actor 3 and Actor 4 .
UsageThe Operator 3 parameter is used to specify the logical operation between Actor 3 and Actor4.
If no more than three actor signals are used, then Operator 3 is left out.
PrerequisitesBy specifying Operator 3 it is explicitly demanded that the parameter Actor 4 must also be
specified.
LimitationsOperator 3 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesAND or OR
Related information
Actor 3 on page 172 . Actor 4 on page 175 .
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4 Topic I/O4.5.12. Actor 4
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4.5.12. Actor 4
Parent Actor 4 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct4
DescriptionThe parameter Actor 4 specifies the fourth digital signal that forms the actor expression of the
cross connection.Whenever the value of the signal referred to by Actor 4 is altered, the logical condition formedby the cross connection will be evaluated and the value of the signal referred to by Resultant will be updated (if needed).
UsageSpecify the fourth of the digital signals that forms the condition that will control the value ofthe signal referred to by Resultant . If no more than three actor signal are used, then Actor 4 isleft out.
Prerequisites Actor 4 will be ignored unless the parameters Operator 1 , Operator 2 and Operator 3 arespecified.
Limitations Actor 4 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed values
A digital signal that is defined in the system.
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4 Topic I/O4.5.12. Actor 4
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Related information
Resultant on page 165 .Operator 1 on page 168 .
Operator 2 on page 171 .
Operator 3 on page 174 .
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4 Topic I/O4.5.13. Invert Actor 4
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4.5.13. Invert Actor 4
Parent Invert Actor 4 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct4_invert
DescriptionThe parameter Invert Actor 4 specifies whether the inverted value of the signal referred to by
parameter Actor 4 will be used in the evaluation instead of the actual signal value.
UsageThe Invert Actor 4 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 4 should be used.
Limitations Invert Actor 4 can only be used if you have the RobotWare option Logical Cross Connections
Allowed valuesYes or No.
Related information Actor 4 on page 175 .
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4 Topic I/O4.5.14. Operator 4
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4.5.14. Operator 4
ParentOperator 4 belongs to the type Cross Connection , in the topic I/O .
Cfg nameOper4
DescriptionThe parameter Operator 4 specifies the logical operation to be performed between the signals
referred to by parameter Actor 4 and Actor 5 .
UsageThe Operator 4 parameter is used to specify the logical operation between Actor 4 and Actor5.
If no more than four actor signals are used, then Operator 4 is left out.
PrerequisitesBy specifying Operator 4 it is explicitly demanded that the parameter Actor 5 must also be
specified.
LimitationsOperator 4 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed valuesAND or OR
Related information
Actor 4 on page 175 . Actor 5 on page 179 .
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4 Topic I/O4.5.15. Actor 5
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4.5.15. Actor 5
Parent Actor 5 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct5
DescriptionThe parameter Actor 5 specifies the fifth digital signal that forms the actor expression of the
cross connection.Whenever the value of the signal referred to by Actor 5 is altered, the logical condition formedby the cross connection will be evaluated and the value of the signal referred to by Resultant will be updated (if needed).
UsageSpecify the fifth of the digital signals that forms the condition that will control the value ofthe signal referred to by Resultant . If no more than four actor signal are used, then Actor 5 isleft out.
Prerequisites Actor 5 will be ignored unless the parameters Operator 1 , Operator 2 , Operator 3 andOperator 4 are specified.
Limitations Actor 5 can only be used if you have the RobotWare option Logical Cross Connections .
Allowed values
A digital signal that is defined in the system.
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4 Topic I/O4.5.15. Actor 5
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Related information
Resultant on page 165 .Operator 1 on page 168 .
Operator 2 on page 171 .
Operator 3 on page 174 .
Operator 4 on page 178 .
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4 Topic I/O4.5.16. Invert Actor 5
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4.5.16. Invert Actor 5
Parent Invert Actor 5 belongs to the type Cross Connection , in the topic I/O .
Cfg nameAct5_invert
DescriptionThe parameter Invert Actor 5 specifies whether the inverted value of the signal referred to by
parameter Actor 5 will be used in the evaluation instead of the actual signal value.
UsageThe Invert Actor 5 parameter can be used when forming complex cross connectionexpressions by specifying if the inverted value of Actor 5 should be used.
Limitations Invert Actor 5 can only be used if you have the RobotWare option Logical Cross Connections
Allowed valuesYes or No.
Related information Actor 5 on page 179 .
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4.6 Type Fieldbus Command
4.6.1. The Fieldbus Command type
OverviewThis section describes the type Fieldbus Command , which belongs to the topic I/O . Eachparameter of this type is described in a separate information topic in this section.
Cfg nameEIO_COMMAND
Type descriptionA Fieldbus Command is a startup command for a specific unit on a fieldbus.
UsageThe Fieldbus Command type is used at startup to send commands to specific units on thefieldbus.
Several units of the same type, e.g. all d350 units, can receive commands via the typeFieldbus Command Type . To address one specific unit, use the type Fieldbus Command .
Related informationThe Fieldbus Command Type type on page 186 .
Example
Parameter Value
Assigned to unit My_d350
Type of Fieldbus Command LinkAddr
Value 5
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4.6.2. Assigned to Unit
Parent Assigned to Unit belongs to the type Fieldbus Command , in the topic I/O .
Cfg nameUnit
DescriptionThe parameter Assigned to Unit specifies the name of the I/O unit to which this fieldbus
command is associated.
Allowed valuesThe parameter must correspond to the name of a defined unit.
Note: Names differing only in upper and lower case are considered to be equal.
Related informationThe Unit type on page 276 .
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4.6.3. Type of Fieldbus Command
ParentType of Fieldbus Command belongs to the type Fieldbus Command , in the topic I/O .
Cfg nameCommandType
DescriptionThe parameter Type of Fieldbus Command is a reference to a fieldbus command type that
describes this fieldbus command.
Allowed valuesThe parameter must correspond to the name of a defined fieldbus command type.
Note: Names differing only in upper and lower case are considered to be equal.
Related informationThe Fieldbus Command Type type on page 186 .
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4.6.4. Value
ParentValue belongs to the type Type of Fieldbus , in the topic I/O .
Cfg nameValue
DescriptionThe parameter Value specifies the value of the command for the unit specified.
UsageThe controller sends commands to the fieldbus on startup. Use the type Fieldbus Command to address specific units on the fieldbus and the type Fieldbus Command Type to address allunits of a specific type.
Allowed valuesA string with maximum 32 characters.
Related informationThe Fieldbus Command Type type on page 186 .
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4.7 Type Fieldbus Command Type
4.7.1. The Fieldbus Command Type type
OverviewThis section describes the type Fieldbus Command Type , which belongs to the topic I/O . Eachparameter of this type is described in a separate information topic in this section.
Cfg nameEIO_COMMAND_TYPE
Type descriptionA Fieldbus Command Type is a startup command for a specific type of unit on a fieldbus.
UsageThe type Fieldbus Command Type is used at startup to send commands to a specific type ofunit on the fieldbus, e.g. all units of the type d350.
Additional information
The type Fieldbus Command Type has lower priority than the type Fieldbus Command .
Related informationThe Fieldbus Command type on page 182 .
Example
Parameter: Value:
Name LinkAddr
Type of unit d350
Default value 1
Download order 1
Path 6,20 64 24 01 30 01,C6,1
Service Set Attribute Single
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4 Topic I/O4.7.2. Name
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4.7.2. Name
Parent Name belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameName
DescriptionThe parameter Name specifies the logical name of the fieldbus command type.
UsageThe name of the fieldbus command type is used as a reference to the specific fieldbuscommand type when configuring the fieldbus commands.
Allowed valuesA string following the RAPID rules described in the manual RAPID overview , chapter Basicelements .
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4.7.3. Type of Unit
ParentType of Unit belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameUnitType
DescriptionThe parameter Type of Unit specifies which type of fieldbus unit this fieldbus command type
is associated with.
Allowed valuesThe parameter must correspond to the name of a defined Unit Type .
Note: Names differing only in upper and lower case are considered to be equal.
Related informationThe Unit Type type on page 289 .
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4.7.4. Default Value
Parent Default Value belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameDefValue
DescriptionThe parameter Default Value specifies the default value for commands based on this fieldbus
command type.
UsageIf a fieldbus command of this fieldbus command type has its parameter Value omitted, thisdefault value will act as substitute.
Allowed valuesA string with maximum 32 characters.
Related informationValue on page 185 .
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4.7.5. Download Order
Parent Download Order belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameOrderNr
DescriptionThe parameter Download Order specifies the sequence number in which fieldbus commands
of this fieldbus command type shall be downloaded to a unit that has more than one fieldbuscommand assigned to it.
UsageUse Download Order to control the order in which the fieldbus commands are downloaded(and executed) on a unit.
Lower download orders are downloaded before higher download orders .
Allowed values
0 - 100
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4 Topic I/O4.7.6. Path
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4.7.6. Path
ParentPath belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameDN_Path
DescriptionPath defines the path to DeviceNet object instance or attribute. Information about how to
define this can usually be found in the [param] section of the EDS file.
UsagePath is used to describe the path to the instance or attribute, the data type identifier and thedata size that are to be affected by the explicit message.
PrerequisitesThe system parameter Explicit Messaging (of the type Unit Type ) must be enabled. The pathcan usually be found in the EDS file for the I/O unit.
LimitationsSupported data type identifiers and their size:
Type/Identifier (hex)/size (hex)
WORD/D2/2
UINT/C7/2
INT/C3/2
BOOL/C1/1
SINT/C2/1USINT/C6/1
UDINT/C8/4
REAL/CA/4
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SHORT_STRING/DA/20
BYTE/D1/1
Allowed valuesA string with maximum 30 characters.
Related information Application manual - DeviceNet .
Explicit Messaging on page 301 .
ODVA DeviceNet Specification 2.0.
Example6,20 01 24 08 30 01,C6,1
Description of example:
6 is the length of the path, i.e. the number of hexadecimal numbers until the nextcomma.
Path (20 01 24 08 30 01) is a software description of DeviceNet class, instance andattribute. A further description can be found in the ODVA DeviceNet Specification2.0.
C6 is the hexadecimal value for the data type identifier.
1 is the data size, i.e. the number of bytes as a hexadecimal value.
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4 Topic I/O4.7.7. Service
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4.7.7. Service
ParentService belongs to the type Fieldbus Command Type , in the topic I/O .
Cfg nameDN_Service
DescriptionService defines the explicit service that should be performed on DeviceNet object instance or
attribute pointed out in Path .
UsageService is used to define the type of action to be used.
PrerequisitesThe system parameter Explicit Messaging (of the type Unit Type ) must be enabled. Theservices supported by the unit can usually be found in the EDS file for the I/O unit.
Allowed valuesFollowing values are allowed:
0x05 (Reset)
0x08 (Create)
0x0D (Apply_Attributes)
0x0E (Set_Attribute_Single)
Related informationPath on page 191 .
Application manual - DeviceNet .
Explicit Messaging on page 301 .
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4.8 Type Signal
4.8.1. The Signal type
OverviewThis section describes the type Signal , which belongs to the topic I/O . Each parameter of thistype is described in a separate information topic in this section.
Cfg nameEIO_SIGNAL
Type descriptionAn I/O signal is the logical software representation of an I/O signal located on a fieldbus unitthat is connected to a fieldbus within the controller.
UsageBy specifying a signal, a logical representation of the real I/O signal is created. The signalconfiguration defines the specific system parameters for the signal that will control thebehavior of the signal.
Many of the parameters depend on the type of signal, therefore it is recommended that theparameter Type of Signal is assigned first.
PrerequisitesBefore defining a new signal it is necessary to make sure that the appropriate Unit and Access
Level are available (either by creating them or using a predefined Unit respectively Access Level ).
Limitations
The signal has the following limitations: Maximum number of signals in the system is 1200
Maximum number of signals on one (1) unit is 200
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Predefined signals
There are a number of predefined signals in the robot controller. These are described inOperators manual - IRC5 with FlexPendant .
Depending on options installed there can also be other predefined signals.
Related informationThe Unit type on page 276
The Access Level Type on page 143
Operators manual - IRC5 with FlexPendant , chapter Safety .
Example digital inputThis is a typical example of a digital input signal, DI.
Parameter: Value:
Name ObjectAtPlace
Type of Signal Digital Input
Assigned to Unit board10
Signal Identification Label X4:4
Unit Mapping 11
Category
Access Level DEFAULT
Default Value 0
Filter Time Passive 0
Filter Time Active 0
Invert Physical Value No
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Example analog output
This is a typical example of an analog output signal, AO.
Example group inputThis is a typical example of a group input signal (GI).
Parameter: Value:
Name Speed
Type of Signal AO
Assigned to Unit board10
Signal Identification Label X6:4
Unit Mapping 16-31
CategoryAccess Level DEFAULT
Default Value 0
Store Signal Value at Power Fail No
Analog Encoding Type Twos complement
Maximum Logical Value 21474.8
Maximum Physical Value 10
Maximum Physical Value Limit 0
Maximum Bit Value 32767
Minimum Logical Value -21474.8
Minimum Physical Value -10
Minimum Physical Value Limit 0
Minimum Bit Value -32767
Signal Value in System Sailure State Keep current value (no change)
Parameter: Value:
Name StatusGroup
Type of Signal Group input
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Assigned to Unit board10Signal Identification Label X2:1-X2:8
Unit Mapping 0-7
Category
Access Level DEFAULT
Default Value 0
Invert Physical Value No
Parameter: Value:
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4.8.2. Name
Parent Name belongs to the type Signal , in the topic I/O .
Cfg nameName
DescriptionThe parameter Name specifies the name of the signal.
UsageThe name of the signal is used as a reference to the specific signal when:
Accessing the signal (i.e. reading or writing its value) in RAPID
Configuring cross connections
Configuring system inputs and system outputs
Allowed valuesA string following the RAPID rules described in the manual RAPID overview , chapter Basicelements .
The name must be unique among all named objects in the I/O system configuration. Note thatnames differing only in upper and lower case are considered to be equal.
Related informationThe Cross Connection type on page 163 .
The System Input type on page 228 .
The System Output type on page 254 .
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4 Topic I/O4.8.3. Type of Signal
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4.8.3. Type of Signal
ParentType of Signal belongs to the type Signal , in the topic I/O .
Cfg nameSignalType
DescriptionType of Signal specifies the signals representation, behavior and direction.
UsageEach signal must be classified as one of the predefined types. The type of signal willdetermine the behavior of the signal as well as how it will be represented and interpreted.
As the behavior of the signal depends upon its type, the settings of other parameters will vary,therefore it is recommended that the Type of Signal parameter is assigned before any otherparameter of the signal.
Allowed values
Digital InputDigital Output
Analog Input
Analog Output
Group Input
Group Output
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4.8.4. Assigned to Unit
Parent Assigned to Unit belongs to the type Signal , in the topic I/O .
Cfg nameUnit
DescriptionThe parameter Assigned to Unit specifies which unit the signal is connected to (if any).
UsageA unit is made physical by mapping a signal to it. This means that the unit is physical in thesense that the signal is associated with a real I/O signal (a signal that exists on the fieldbus).Note also that signals mapped against virtual units will be considered and treated as physicalsignals.
If the signal is not mapped against a unit (i.e. the Assigned to Unit is unspecified) it will beconsidered as virtual.
Allowed valuesThe parameter must either be unspecified (i.e. denote a virtual signal) or it must correspondto the name of a defined unit.
Note that names differing only in upper and lower case are considered to be equal.
Related informationThe Unit type on page 276
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4.8.5. Signal Identification Label
ParentSignal Identification Label belongs to the type Signal , in the topic I/O .
Cfg nameSignalLabel
DescriptionThe parameter Signal Identification Label provides a free-text label to a signal.
UsageSignal Identification Label is optional for use in providing a label for the physical contact orcable that this signal configuration represents.
Assign an easy-to-understand name (free-text) to the signal to make it easy to physicallyidentify the signal (e.g. map the signal to a physical identification such as a cable marking oran outlet label).
Allowed values
A string of maximum 80 characters.
ExampleConn. X4, Pin 1
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4.8.6. Unit Mapping
ParentUnit Mapping belongs to the type Signal , in the topic I/O .
Cfg nameUnitMap
DescriptionThe parameter Unit Mapping specifies which bit(s) in the I/O memory map of the assigned
unit the signal is mapped to.
UsageAll physical signals (i.e. signals connected to a physical unit) must be mapped.
LimitationsA signal must be completely mapped to bits on the same unit, e.g. it is not possible to map agroup signal to bits on different units.
Allowed valuesA string with maximum 80 characters.
The string should contain the mapping order of the individual bits of the signal, using thefollowing syntax:
Refer to a bit in the I/O memory map by the index of the bit, the bits are indexed from0 (zero) and upward
If the signal is mapped to several continuous bits, these can be given as arange: -
If the signal is mapped to several discontinuous bits and/or ranges, these shouldseparated by commas: , ,
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Additional information
Signals can be mapped to bits in the range 0 to 511 unless the physical characteristics of theunit to which the signal is assigned adds further constraints on this range.
Overlapping unit maps is not allowed, i.e. the Unit Mapping must not refer to the same bit(s)more than once.
The size of the signal (i.e. the number of bits in the Unit Mapping ) is restricted. The restrictiondepends upon the type of signal:
Digital signals must be mapped to exactly one bit
Analog signals must be mapped between 2 and 32 bits
Group signals must be mapped between 2 and 32 bitsMapping more than one signal against the same bit(s) in the I/O memory map can causeunpredictable start-up values for these signals since their order of evaluation cannot becontrolled. E.g. if an inverted group output signal is mapped to the same bits as some digitaloutput signals, the status of these bits will depend on the order in which the signals are dealtwith, a feature that cannot be controlled.
It is highly recommended that mapping of several signals to the same bit(s) be avoided.
Example
Examples of valid mapping of a digital signal (1 bit):
0
13
Examples of valid mapping of an analog or group signal (2-32 bits):
4, 6-7
16-31
8-15, 0-7
Example of invalid mapping (bit 7 is overlapped):
0-7, 15-7
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4.8.7. Category
ParentCategory belongs to the type Signal , in the topic I/O .
Cfg nameCategory
DescriptionThe parameter Category provides a free-text categorizing to a signal.
UsageCategory is optional for use in categorizing the signals in different categories so that tools(e.g. software tools) will be able to offer filtering and sorting of signals based on thesecategories.
LimitationsSignals defined as Safety or Internal are hidden for the user by RobotStudio Online andFlexPendant.
Allowed valuesA string of maximum 16 characters.
Additional informationThe category of all safety-related signals (internally loaded by the system) are set to Safety.
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4.8.8. Access Level
Parent Access Level belongs to the type Signal , in the topic I/O .
Cfg nameAccess
DescriptionThe parameter Access Level specifies which clients have write access to the signal.
Usage Access Level defines the write access of the I/O signal for different categories of I/Ocontrolling applications, such as RobotStudio Online and RAPID programs.
Allowed valuesA string corresponding to the name of a defined Access Level type.
Note: Names differing only in upper and lower case are considered to be equal.
Related informationThe Access Level Type on page 143 .
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4.8.9. Default Value
ParentThe parameter Default Value belongs to the type Signal , in the topic I/O .
Cfg nameDefault
DescriptionThe parameter Default Value specifies the signal value to be used at start-up.
UsageThe default value:
will be used for initializing the signal at start-up if the signal is neither stored nor aresultant in a cross connection.
is used for evaluation of cross connections whenever the unit to which this signal isassigned is disconnected.
is not used after a system failure if the value of Signal Value in System Failure State isset to Keep current value.
LimitationsThis parameter has lower priority than the Store Signal Value at Power Fail parameter.
Allowed valuesDepending on the type of signal, the following values are allowed:
Type of signal: Allowed value:
Digital 0 or 1Analog Any value in the range Minimum Logical Value to Maximum Logical
Value
Group Any value in the range 0 to 2 size -1 (size = number of bits in the UnitMapping parameter)
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Related information
Store Signal Value at Power Fail on page 208 Signal Value at System Failure and Power Fail on page 227
Minimum Logical Value on page 223
Maximum Logical Value on page 215
Unit Mapping on page 202
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4.8.10. Store Signal Value at Power Fail
ParentStore Signal Value at Power Fail belongs to the type Signal , in the topic I/O .
Cfg nameStore
DescriptionThe parameter Store Signal Value at Power Fail specifies whether the signal should be set to
the value stored in the permanent memory pool or not at start up.
UsageSetting this parameter will cause the system to initialize the signal with the last known valueat start up, i.e. the value that was stored in the permanent memory pool at the previous powerdown.
PrerequisitesThis parameter is applicable on output signals only, i.e. the Type of Signal must be set to one
of the output signal types or this parameter will be ignored.
Allowed valuesYes or No
Additional informationThis parameter has higher priority than the Default Value parameter.
Related information Default Value on page 206 .
Type of Signal on page 199 .
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4.8.11. Filter Time Passive
ParentFilter Time Passive belongs to the type Signal , in the topic I/O .
Cfg nameFiltPas
DescriptionThe parameter Filter Time Passive specifies the filter time for detection of negative flanks
(i.e. physical signal value goes from active to passive).
UsageThe passive filter time filters signals from noise that could otherwise be interpreted as a pulseof the signal.
The passive filter time specifies the period in ms (milliseconds) that the physical value of thesignal must remain passive before the signal will be considered passive and the logical signalis changed to passive, i.e. if the time period that the physical value is passive is shorter thanFilter Time Passive , the logical signal is not changed.
PrerequisitesThis parameter is applicable on digital input and group input signals only, i.e. the Type ofSignal parameter must be set to one of these types or this parameter will be ignored.
Allowed values
Additional informationNote that many units have built-in hardware for filtering signals. This filter time is then addedto the value of Filter Time Passive .
Value Description
0 No filter
10-32000 Filter time in ms
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Related information
Type of Signal on page 199Filter Time Active on page 211
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4.8.12. Filter Time Active
ParentFilter Time Active belongs to the type Signal , in the topic I/O .
Cfg nameFiltAct
DescriptionThe parameter Filter Time Active specifies the filter time for detection of positive flanks (i.e.
physical signal value goes from passive to active).
UsageThe active filter time filters signals from noise that could otherwise be interpreted as a pulseof the signal.
The active filter time specifies the period in ms (milliseconds) that the physical value of thesignal must remain active before the signal will be considered active and the logical signal ischanged to active, i.e. if the time period that the physical value is active is shorter than FilterTime Active , the logical signal is not changed.
PrerequisitesThis parameter is applicable on digital input and group input signals only, i.e. the Type ofSignal parameter must be set to one of these types or this parameter will be ignored.
Allowed values
Additional informationNote that many units have built-in hardware for filtering signals. This filter time is then addedto the value of Filter Time Active .
Value Description
0 No filter
10 - 32000 Filter time in ms
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4.8.13. Invert Physical Value
Parent Invert Physical Value belongs to the type Signal , in the topic I/O .
Cfg nameInvert
DescriptionThe parameter Invert Physical Value specifies whether the physical representation should be
the inverted of the logical representation.
UsageUse this parameter to apply an inversion between the physical value of the signal and itslogical representation in the system.
How to invert the signal depends on the direction of the signal (see Type of Signal ):
The logical value of an input signal will be the inversion of its physical value
The physical value of an output signal will be the inversion of its logical value.
Inverting a grouped signal will make each individual bit in the group inverted.
PrerequisitesThis parameter is only applicable to non-analog signals, i.e. the Type of Signal must be set toone of the digital signal or group signal types or this parameter will be ignored.
Allowed valuesYes or No
Related informationType of Signal on page 199 .
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4.8.14. Analog Encoding Type
Parent Analog Encoding Type belongs to the type Signal , in the topic I/O .
Cfg nameEncType
DescriptionThe parameter Analog Encoding Type specifies how the value of an analog signal is
interpreted.
UsageUse this parameter to specify whether the physical representation of an analog signal shouldbe interpreted as a signed (twos complement) or unsigned value.
PrerequisitesThis parameter is only applicable on analog signals, i.e. the Type of Signal must be set to oneof the analog signal types or this parameter will be ignored.
Allowed values
Related informationType of Signal on page 199
Value: Description:
Twoscomplement
If the physical analog range for a specific signal is symmetric around 0, e.g.-32768 to +32767, the signal is most likely coded as twos complement.
Unsigned Unsigned is used for signals ranging from 0 and upwards.
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4.8.15. Maximum Logical Value
Parent Maximum Logical Value belongs to the type Signal , in the topic I/O .
Cfg nameMaxLog
DescriptionThe parameter Maximum Logical Value specifies the logical value that will correspond to the
Maximum Physical Value .
UsageThe logical values offer a way to access the signals (e.g. through RAPID programs) by usinglogical quantities rather than physical.
By setting up the extremes (minimum and maximum values) of the logical and physicalvalues the system will be able to calculate scale and offset factors for transforming signalvalues between the different quantities.
PrerequisitesThis parameter is only applicable to analog signals, i.e. the Type of Signal must be set to oneof the analog signal types or this parameter will be ignored.
LimitationsThe value must be greater than the value of the Minimum Logical Value .
Allowed values-3.4 x 10 38 to 3.4 x 10 38
If both Minimum Logical Value and Maximum Logical Value are set to zero (0), the logicalvalues will be directly mapped against the physical values:
minimum logical value = minimum physical value
maximum logical value = maximum physical value
Hence there is no scaling or offset factor between the logical and physical representation ofthe value of a signal.
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4 Topic I/O4.8.15. Maximum Logical Value
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Additional information
The logical value is a representation of a signal that makes it possible to handle the signal inquantities known from the real world feature it corresponds to rather than the physical valueused to control it. E.g. it would be more natural to set the speed of a moving axis in mm/s (thelogical value) rather than the amount of voltage needed to attain that speed (the physicalvalue).
Related information Minimum Logical Value on page 223 .
Maximum Physical Value on page 217 .
Minimum Physical Value on page 224 .
Type of Signal on page 199 .
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4 Topic I/O4.8.16. Maximum Physical Value
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Hence there is no scaling or offset factor between the physical and bit representation of thevalue of a signal.
Related information Minimum Physical Value on page 224 .
Maximum Logical Value on page 215 .
Maximum Bit Value on page 221 .
Minimum Bit Value on page 226 .
Type of Signal on page 199 .
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4 Topic I/O4.8.17. Maximum Physical Value Limit
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4.8.17. Maximum Physical Value Limit
Parent Maximum Physical Value Limit belongs to the type Signal , in the topic I/O .
Cfg nameMaxPhysLimit
DescriptionThe parameter Maximum Physical Value Limit specifies the maximum allowed physical
value, acting as a working range limiter.
UsageThe Maximum Physical Value Limit limits the allowed maximum physical value, e.g. if a bitor logical value is given that would exceed this limit, the physical value is automaticallyadjusted to Maximum Physical Value Limit .
PrerequisitesThis parameter is only applicable to analog signals, i.e. the Type of Signal must be set to one
of the analog signal types or this parameter will be ignored.
LimitationsThe value must be greater than the value of the Minimum Physical Value Limit .
Allowed values-3.4 x 10 38 to 3.4 x 10 38
If both Minimum Physical Value Limit and Maximum Physical Value Limit are set to zero (0),the physical value limits will be directly mapped against the physical values:
minimum physical value limit = minimum physical value maximum physical value limit = maximum physical value
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4 Topic I/O4.8.18. Maximum Bit Value
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4.8.18. Maximum Bit Value
Parent Maximum Bit Value belongs to the type Signal , in the topic I/O .
Cfg nameMaxBitVal
DescriptionThe parameter Maximum Bit Value specifies the bit value that will correspond to the
Maximum Logical Value .
UsageThe bit value is the signals representation when transmitted on the fieldbus.
The bit value is used when calculating the physical and logical values.
PrerequisitesThis parameter is only applicable to analog signals, i.e. the Type of Signal must be set to oneof the analog signal types or this parameter will be ignored.
LimitationsThe value must be greater than the value of the Minimum Bit Value .
Allowed values-2,147,483,648 to 2,147,483,647
If both Minimum Bit Value and Maximum Bit Value are set to zero (0) then the bit values willbe calculated based on the selected Analog Encoding Type .
If Analog Encoding Type is set to Twos complement:
maximum bit value = 2 (no of bits in Unit Mapping)-1 -1
minimum bit value = 2 (no of bits in Unit Mapping)-1
If Analog Encoding Type is set to Unsigned:
maximum bit value = 2 (no of bits in Unit Mapping) -1
minimum bit value = 0
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Related information
Minimum Bit Value on page 226 . Maximum Logical Value on page 215 .
Maximum Physical Value on page 217 .
Analog Encoding Type on page 214 .
Type of Signal on page 199 .
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4.8.20. Minimum Physical Value
Parent Minimum Physical Value belongs to the type Signal , in the topic I/O .
Cfg nameMinPhys
DescriptionThe parameter Minimum Physical Value specifies the physical value that will correspond to
the Minimum Logical Value .
UsageSee Maximum Physical Value .
PrerequisitesThis parameter is only applicable to analog signals, i.e. the Type of Signal must be set to oneof the analog signal types or this parameter will be ignored.
LimitationsThe value must be less than the value of the Maximum Physical Value .
Allowed valuesSee Maximum Physical Value .
Related information Maximum Physical Value on page 217 .
Type of Signal on page 199 .
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4.8.21. Minimum Physical Value Limit
Parent Minimum Physical Value Limit belongs to the type Signal , in the topic I/O .
Cfg nameMinPhysLimit
DescriptionThe parameter Minimum Physical Value Limit specifies the minimum allowed physical value,
hence it acts as a working range limiter.
UsageSee Maximum Physical Value Limit .
PrerequisitesThis parameter is only applicable to analog signals, i.e. the Type of Signal must be set to oneif the analog signal types or this parameter will be ignored.
LimitationsThe value must be less than the value of the Maximum Physical Value Limit .
Allowed valuesSee Maximum Physical Value Limit .
Related information Maximum Physical Value Limit on page 219 .
Type of Signal on page 199 .
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4 Topic I/O4.8.23. Signal Value at System Failure and Power Fail
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4.8.23. Signal Value at System Failure and Power Fail
ParentSignal Value at System Failure and Power Fail belongs to the type Signal , in the topic I/O .
Cfg nameSysfailReset
DescriptionThe parameter Signal Value at System Failure and Power Fail specifies whether this output
signal should keep its current value or take the signals default value in case of system failureor at a power fail.
UsageIf a signal is required to assume a specific value when the power to the robot controller is shutoff then it can be useful to use this parameter.
PrerequisitesThis parameter is only applicable to output signals, i.e. the Type of Signal must be set to one
of the output signal types or this parameter will be ignored.
Allowed valuesKeep current value (no change)
Set the default value
Related informationType of Signal on page 199
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4.9 Type System Input
4.9.1. The System Input type
OverviewThis section describes the type System Input which belongs to the topic I/O . Each parameterof this type is described in a separate information topic in this section.
Cfg nameSYSSIG_IN
Type descriptionInput signals can be assigned specific inputs, e.g. Start or Motors on. The input triggers asystem action that is handled by the system, without using the FlexPendant or other hardwaredevices.
It is possible to use a PLC to trigger the system inputs.
Rejected system inputsIf the system is in manual mode or cannot perform the action due to any other unfulfilled
requirement, no error messages are displayed. When a system action is rejected the errormessages are stored in the error log.
LimitationsThe following limitations have to be considered:
Only one system action can be assigned to the input signal. However, several inputsignals can be assigned the same system action.
When deleting a system action the input signal itself remains defined. The signal hasto be deleted separately.
System input signals are only valid for the Main task, with exceptions on the actionvalue level. These are described together with the corresponding action value.
Additional informationAll system inputs are 0 to 1 level sensitive. The pulse length has to exceed 50 ms or accordingto the configured filter settings for I/O signals.
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4.9.3. Action
Parent Action belongs to the type System Inputs in the topic I/O .
Cfg nameAction
DescriptionInput signals can be assigned specific system actions. Action defines the system action to be
triggered by the signal. The system actions are handled by the system without input from auser.
Allowed valuesThe following values are allowed and described on the following pages:
Motors On on page 232 .
Motors On and Start on page 234 .
Motors Off on page 235 .
Load and Start on page 236 .
Interrupt on page 238 .
Start on page 240 .
Start at Main on page 242 .
Stop on page 244 .
Stop at End of Cycle on page 245 .
Stop at End of Instruction on page 246 .
Reset Execution Error Signal on page 247 .
Reset Emergency Stop on page 248 . System Restart on page 250 .
Related information How to define system inputs on page 141 .
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4 Topic I/O4.9.4.1. Motors On
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4.9.4. Action Values
4.9.4.1. Motors On
Parent Motors On is an action value for the parameter Action that belongs to the type System Input in the topic I/O .
DescriptionThe action value Motors On sets the controller in the Motors On state.
This action can be used by a PLC to set the controller in Motors On state.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The safety chain has to be closed. To check if the safety chain is closed, use theparameter Run Chain OK of the type System Output .
LimitationsThe action value has the following limitations:
The controller has to be in automatic mode.
The controller cannot be in the Motors On state if the system input signal action Motors Off is high.
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4 Topic I/O4.9.4.1. Motors On
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Additional information
The signal sequences for Motors On is:
xx0400000949
A: Motors On (IN)
B: Motors On (OUT)
Related information Motors Off on page 235 .
Run Chain OK on page 271 .
Operators manual - IRC5 with FlexPendant chapter Configuring Inputs and Outputs .
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4 Topic I/O4.9.4.2. Motors On and Start
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4.9.4.2. Motors On and Start
Parent Motors On and Start is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O .
DescriptionThe action value Motors On and Start sets the controller in the Motors On state and starts theRAPID program from the current instruction, continuous or cycle execution.
Motor On and Start can be used by a PLC to set Motors On in one single step and start a
RAPID program, instead of using the FlexPendant and the control panel.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The parameter Argument 1 has to be defined with the run mode Continuous or Cycle.
LimitationsThe action value has the following limitations:
The controller has to be in automatic mode.
You cannot use this action value if the Stop , Stop at end of Cycle , Stop at end of Instruction or Motors Off actions are set.
Related information Argument 1 on page 251 .
Action on page 231 .
Operators manual - IRC5 with FlexPendant chapter Configuring Inputs and Outputs .
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4 Topic I/O4.9.4.3. Motors Off
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4.9.4.3. Motors Off
Parent Motors Off is an action value for the parameter Action that belongs to the type System Input in the topic I/O .
DescriptionThe action value Motors Off sets the controller in the Motors Off state. If a program isexecuting, it is stopped before changing state.
Motors Off can be used by a PLC to set the controller in Motors Off state.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
It is advisable to stop the program execution before using the action Motors Off tosecure a controlled stop.
Additional informationThe signal sequence for Motors Off is:
xx0400000949
A: Motors Off (IN)
B: Motors Off (OUT)
Related informationOperators manual - IRC5 with FlexPendant chapter Configuring Inputs and Outputs .
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4 Topic I/O4.9.4.4. Load and Start
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4.9.4.4. Load and Start
Parent Load and Start is an action value for the parameter Action that belongs to the type System Input in the topic I/O .
DescriptionThe action value Load and Start loads a RAPID program (files of type .mod, .prg, and .pgf)from a mass storage device. The program starts from the beginning.
Note! The previously loaded files (of type .prg or .pgf) will be unloaded.
Load and Start can be used by a PLC to load and start a program, instead of using theFlexPendant.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The controller has to be in Motors On state and the program control has to be available,i.e. not used by any other resource.
The parameter Argument 1 has to be defined with an existing program file name. If the option MultiMove is installed, the parameter Argument 2 must be defined with a
task for which the program or module should be loaded.
LimitationsThis action value has the following limitations:
The controller has to be in automatic mode.
You cannot use this action if the Stop , Stop at end of Cycle , or Stop at end of Instruction actions are set.
Load and Start action is not valid during program execution.
The run mode will always be set to Cyclic.
If the controller is in Motors Off state, only the load is performed.
If the current program has been changed, the changes will not be saved before the load.
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Additional information
The signal sequence for Load Start is:
xx0400000949
A: Load and Start (IN)
B: Cycle On (OUT)
Related information Action on page 231
Argument 1 on page 251
Argument 2 on page 252
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4 Topic I/O4.9.4.5. Interrupt
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StopMove\Quick;!Prevent current move instruction to continue
StorePath;!For later use
currpos:=CRobT();!Save current position
-----
-----! Place the code for the routine to run here.
-----
MoveJ currpos,v600,fine,toolx;!Move back to programmed position
RestoPath;!Restore StorePath
StartMove;!Restore StopMove
ENDPROC
After the StartMove instruction, the stopped movement will continue to move to its finepoint. When the routine A has been executed, the normal program can be restarted.
Signal sequenceThe signal sequence for Interrupt is:
xx0400000949
A: Interrupt (IN)
B: Cycle On (OUT)
Related information Action on page 231
Argument 1 on page 251
Argument 2 on page 252
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4.9.4.6. Start
ParentStart is an action value for the parameter Action that belongs to the type System Input in thetopic I/O .
DescriptionThe action value Start starts a RAPID program from the current instruction, continuous orcycle run mode.
Start can be used by a PLC to start the program execution.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The controller has to be in Motors On state and the program control has to be available,i.e. not used by any other resource.
The parameter Argument 1 has to be defined with the running mode Continuous orCycle.
LimitationsThis action value has the following limitations:
The controller has to be in automatic mode.
You cannot use this action if the Stop , Stop at end of Cycle , or Stop at end of Instruction actions are set.
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Additional information
The signal sequence for Start is:
xx0400000949
A: Start (IN)
B: Cycle On (OUT)
Related information Argument 1 on page 251
Action on page 231
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4.9.4.7. Start at Main
ParentStart at Main is an action value for the parameter Action that belongs to the type System Input in the topic I/O .
DescriptionThe action value Start at Main starts a RAPID program from the beginning, continuous orcycle run.
Start at Main can be used by a PLC to start the program execution from the beginning.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The controller has to be in Motors On state and the program control has to be available,i.e. not used by any other resource.
The parameter Argument 1 has to be defined with the running mode Continuous orCycle.
LimitationsThis action value has the following limitations:
The controller has to be in automatic mode.
You cannot use this action if the Stop , Stop at end of Cycle , or Stop at end of Instruction actions are set.
Start at Main action is not valid during program execution.
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Additional information
The signal sequence for Start at Main is:
xx0400000949
A: Start at Main (IN)
B: Cycle On (OUT)
Related information Argument 1 on page 251
Action on page 231
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4 Topic I/O4.9.4.8. Stop
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4.9.4.8. Stop
ParentStop is an action value for the parameter Action that belongs to the type System Input in thetopic I/O .
DescriptionThe action value Stop stops the RAPID program execution. A program cannot be startedwhen this signal is high.
Stop can be used by a PLC to stop the program execution.
PrerequisitesA digital signal input with a defined signal name has to be configured in the system.
Additional informationThe signal sequence for Stop is:
xx0400000950
A: Stop (IN)
B: Cycle On (OUT)
1
0
1
0
A
B
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4.9.4.12. Reset Emergency Stop
Parent Reset Emergency Stop is an action value for the parameter Action that belongs to the typeSystem Input in the topic I/O .
DescriptionThe action value Reset Emergency Stop confirms the reset of an emergency stop. When anemergency stop has occurred, it must first be restored mechanically and the reset has to beconfirmed. The controller can then be set to the Motors On state.
It is possible to use a PLC to confirm the reset of the emergency stop instead of using theMotors On button.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
The safety chain must be closed by restoring the emergency stop mechanically.
LimitationThe controller has to be in automatic mode.
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4 Topic I/O4.9.4.12. Reset Emergency Stop
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Additional information
To reset an emergency stop, set the signal sequences according to the image.
xx0400000948
A: Reset Emergency Stop (IN), Order
B: Emergency Stop (OUT), Response
C: Run Chain OK (OUT), Response
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4.9.4.13. System Restart
ParentSystem Restart is an action value for the parameter Action that belongs to the type System
Input in the topic I/O .
DescriptionThe action value System Restart performs a controller restart, similar to power off/on.
This action can be used by a PLC to restart the controller.
PrerequisitesThe following prerequisites have to be considered:
A digital signal input with a defined signal name has to be configured in the system.
It is advisable to stop all RAPID programs before using the action.
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4 Topic I/O4.9.5. Argument 1
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4.9.5. Argument 1
Parent Argument 1 belongs to the type System Inputs in the topic I/O .
Cfg nameArg1
Description Argument 1 is an argument required to perform the system actions Interrupt , Load and Start ,
Motors On and Start , Start , or Start at Main , i.e. when the parameter Action has one of theaction values listed above, Argument 1 must be set too.
Allowed valuesThe following values are allowed:
Related information Action on page 231
Interrupt on page 238
Load and Start on page 236
Motors On and Start on page 234
Start on page 240
Start at Main on page 242
Argument 2 on page 252
System action: Allowed value:
Interrupt The name of the routine to be executed.
Load and Start The name of the program file to load, including the file format (.mod,
.prg or .pgf). Always define the path to the file, e.g.HOME:ModuleA.mod
Motors On and Start Continuous or Cycle
Start Continuous or Cycle
Start at Main Continuous or Cycle
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4.9.6. Argument 2
Parent Argument 2 belongs to the type System Input , in the topic I/O .
Cfg nameArg2
Description Argument 2 is an argument required to perform the system actions Load and Start and
Interrupt , i.e. when the parameter Action is set to Load and Start or Interrupt , Argument 2 must be set too.
Usage Argument 2 is used to define a task.
PrerequisitesAction must be set to Load and Start or Interrupt .
LimitationsArgument 2 is only used with the option MultiMove .
Allowed values
System action: Allowed value:
Load and Start The task in which the routine defined in Argument 1 should execute.
Interrupt The task in which the module or program defined in Argument 1 should be loaded.
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Related information
Action on page 231 Load and Start on page 236
Interrupt on page 238
Argument 1 on page 251
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4.10 Type System Output
4.10.1. The System Output type
OverviewThis section describes the type System Output which belongs to the topic I/O . Each parameterof this type is described in a separate information topic in this section.
Cfg nameSYSSIG_OUT
Type descriptionSystem output signals can be assigned for a specific system action. These signals are setautomatically by the system without user input when the system action occurs.
System output signals can be both digital and analog.
PrerequisitesA signal must be configured in the system. The signal name must be a string of maximum 16characters.
LimitationsThe following limitations have to be considered:
Several output signals can be assigned the same system action, but several systemactions may not be assigned to the same signal.
When deleting a system action the signal itself remains defined. The signal must bedeleted separately.
The predefined system output for the Motors On lamp cannot be edite