The 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. These names are always available in the program for reading or setting I/O operations. The value of an analog signal or a group of digital signals is specified as a numeric value.

Instruction Used to:

InvertDO Invert the value of a digital output signal

PulseDO Generate a pulse on a digital output signal

Reset Reset a digital output signal (to 0)

Set Set a digital output signal (to 1)

SetAO Change the value of an analog output signal

SetDO Change the value of a digital output signal (symbolic value; e.g. high/low)

SetGO Change the value of a group of digital output signals

The value of an input signal can be read directly in the program, e.g. :

! Digital input

IF di1 = 1 THEN ...

! Digital group input

IF gi1 = 5 THEN ...

! Analog input

IF ai1 > 5.2 THEN ...

Instruction Used to:

WaitDI Wait until a digital input is set or reset

WaitDO Wait until a digital output is set on reset

Function Used to:

TestDI Test whether a digital input is set

/O modules are automatically enabled at start-up, but they can be disabled during program execution and re-enabled later.

Instruction Used to:

IODisable Disable an I/O module

IOEnable Enable an I/O module

Data type Used to define:

dionum The symbolic value of a digital signal

signalai The name of an analog input signal *

signalao The name of an analog output signal *

signaldi The name of a digital input signal *

signaldo The name of a digital output signal *

signalgi The name of a group of digital input signals *

signalgo The name of a group of digital output signals *

Instruction Used to:

AliasIO1 Define a signal with an alias name

* Only to be defined using system parameters.