AIO_Set Statement
Output the speed information of the robot to optional analog I/O output channel.
Syntax
(1) AIO_Set channelNumber, On, {RefTCPSpeed | RealTCPSpeed | RefECPSpeed | RealECPSpeed }, MaximumOutputSpeed [, MiminumOutputSpeed] [, Cnv, Conveyor Number]
(2) AIO_Set Channel Number, Off
(3) AIO_Set [Channel Number]
Parameters
- Channel Number
- Specify the channel number of the analog I/O.
- On
- Specify the output data (integer from 0 to 65535) using an expression or numeric value.
- Off
- Finish analog output of the speed information and initializes to output "0".
- RefTCPSpeed
- Output the commanded speed of TCP which is currently selected.
- RealTCPSpeed
- Output the actual speed of TCP which is currently selected.
- RefECPSpeed
- Output the commanded speed of ECP which is currently selected.
- RealECPSpeed
- Output the actual speed of ECP which is currently selected.
- Maximum Output Speed
- Specify the Real type real number (unit [mm/s]) indicating speed when outputting the maximum value of the output range using an expression or numeric value.
- Minimum Output Speed
- Specify the Real type real number (unit [mm/s]) indicating speed when outputting the minimum value of the output range using an expression or numeric value. Value is “0” [0mm/s] when omitting.
- Cnv
- Output the relative speed of TCP with the conveyor. Specify with the conveyor number.
- conveyorNumber
- Specify the conveyor number used to calculate the relative speed of TCP.
Description
Perform real-time output the speed of TCP (tool center point) or ECP (external control point) by analog voltage or current to analog I/O channel specified by channel number. Set the selection of analog voltage or current and output range configuration by a switch and jumper on the analog I/O board.
The robot speed corresponding to minimum and maximum value of the output range is determined by liner interpolation depending on specified minimum output speed and maximum output speed as shown in the figure below.
| Symbol | Description |
|---|---|
| a | Tip Speed [mm/s] |
| b | Output [V or mA] |
| c | Maximum Output Speed |
| d | Minimum Output Speed |
| e | Minimum Output |
| f | Maximum Output |
If specifying the commanded speed (RefTCPSpeed or RefECPSpeed), output the ideal speed waveform based on the applying command value on the robot.
If specifying the actual speed (RealTCPSpeed and RealECPSpeed), output the calculated speed waveform based on the actual robot move.
If specifying the TCP (RefTCPSpeed or RealTCPSpeed), output the center point speed of currently selected tool (default: Tool 0).
If specifying the ECP (RefECPSpeed or RealECPSpeed), output the speed of external control point (ECP) which is currently selected. If ECP is not selected (when ECP = 0), output the minimum output.
ECP and Cnv cannot be specified at the same time.
Only the conveyor number that has been calibrated with the manipulator can be specified.
If only channel number is specified, display the output configuration information of the specified analog channel I/O. If all argument is omitted, display the output configuration information of all analog channel I/O.
See Also
AIO_In Function, AIO_Out, AIO_Out Function, AIO_Out, AIO_OutW Function, AIO_Set, Wait
AIO_Set Example
Set actual speed output of TCP of robot 1 and tool 1 to analog output channel.
Perform analog output the robot operating speed and disable the speed output configuration.
Robot 1
Tool 1
Motor On
Power High
SpeedS 2000
AccelS 5000
AIO_Set 1, On, RealTCPSpeed, 2000.0, 0.0
Move P1
AIO_Set 1, Off