IAI America TT-C3 - Manual (Page 287)

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INTELLIGENT ACTUATOR
Appendix
Appendix
~ How to Use Internal DIOs
1. Internal DIs and Dedicated Functions
Internal DI Nos. 001 to 006, 014 and 015 can be assigned as dedicated function ports (software
reset input, etc.) by parameter settings. (They are not assigned to dedicated functions when the
robot is shipped from the factory.)
To implement a dedicated function, assign it to an internal DI via a parameter and then turn
ON/OFF the internal DI. Note that internal DIs cannot be controlled from the I/O connector. A
dedicated function can be implemented by turning ON/OFF the internal DO corresponding to the
internal DI assigned to that function.
Correspondence of DI port numbers and DO port numbers is shown below.
DO port No. DI port No. Dedicated function Parameter No.
308 001 Software reset IO parameter No. 031
309 002 Servo ON IO parameter No. 032
310 003 Auto program start IO parameter No. 033
311 004 Software interlock IO parameter No. 034
312 005 Pause reset IO parameter No. 035
313 006 Pause IO parameter No. 036
314 014 Drive-source cutoff input IO parameter No. 044
315 015 Home return, etc. IO parameter No. 045
For example, executing the following SEL program will turn ON input port No. 1:
BTON 308
TIMW 1
EXIT
If DI No. 001 is set as a software reset input, a software reset will be implemented (the robot will
restart). For details on the dedicated functions, refer to the parameter list.
Note: The parameters are normally set to the above DI and DO port numbers before shipment.
Note that even when the input port number assigned to a given input function selection
*** is changed by setting “Physical input port number for input function selection ***”
accordingly, the functions where the ON/OFF statuses of output port Nos. 308 to 315 are
reflected in input port Nos. 1 to 6, 14 and 15 will be maintained, as shown in the table
above. However, the dedicated functions will be disabled. For example, setting “Input
function selection 001” and “Physical input port number for input function selection 001”
to “1 (soft reset)” and “16,” respectively, and then turning output port No. 308 ON will turn
input port No. 1 ON, but soft reset will not be executed.
For details, refer to 2.3.2, “Standard Interface (Main Application Version 0.19 or Later).”