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Kapitel 11 - Systeme mit zwei Robotern
• Interne Ausgänge 3001-3004 foür beide Roboter.
.DIGITAL_INPUT
POS_LATCH 1 = "/SIGNAL NONE"
POS_LATCH 2 = "/SIGNAL NONE"
SIGNAL 1033 = "/INPUT_BLOCK 16 /INPUT_BYTE 1 /IO_OPTIONAL YES"
sDIO-1
SIGNAL 1041 = "/INPUT_BLOCK 16 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1049 = "/INPUT_BLOCK 16 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1057 = "/INPUT_BLOCK 16 /INPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 1065 = "/INPUT_BLOCK 17 /INPUT_BYTE 1 /IO_OPTIONAL YES"
sDIO-2
SIGNAL 1073 = "/INPUT_BLOCK 17 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1081 = "/INPUT_BLOCK 17 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1089 = "/INPUT_BLOCK 17 /INPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 1097 = "/INPUT_BLOCK 1 /INPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 1 XIO
SIGNAL 1105 = "/INPUT_BLOCK 1 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1113 = "/INPUT_BLOCK 3 /INPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 1
SIGNAL 1121 = "/INPUT_BLOCK 3 /INPUT_BYTE 2 /IO_OPTIONAL YES"
IO Blox
SIGNAL 1129 = "/INPUT_BLOCK 3 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1137 = "/INPUT_BLOCK 3 /INPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 1145 = "/INPUT_BLOCK 2 /INPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 2 XIO
SIGNAL 1153 = "/INPUT_BLOCK 2 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1161 = "/INPUT_BLOCK 4 /INPUT_BYTE 1 /IO_OPTIONAL YES"
SIGNAL 1169 = "/INPUT_BLOCK 4 /INPUT_BYTE 2 /IO_OPTIONAL YES"
Robot 2
SIGNAL 1177 = "/INPUT_BLOCK 4 /INPUT_BYTE 3 /IO_OPTIONAL YES"
IO Blox
SIGNAL 1185 = "/INPUT_BLOCK 4 /INPUT_BYTE 4 /IO_OPTIONAL YES"
VIS_TRIGGER 1 = "/SIGNAL NONE"
VIS_TRIGGER 2 = "/SIGNAL NONE"
.DIGITAL_OUTPUT
SIGNAL 33 = "/OUTPUT_BLOCK 16 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
sDIO-1
SIGNAL 41 = "/OUTPUT_BLOCK 16 /OUTPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 49 = "/OUTPUT_BLOCK 16 /OUTPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 57 = "/OUTPUT_BLOCK 16 /OUTPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 65 = "/OUTPUT_BLOCK 17 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
sDIO-2
SIGNAL 73 = "/OUTPUT_BLOCK 17 /OUTPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 81 = "/OUTPUT_BLOCK 17 /OUTPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 89 = "/OUTPUT_BLOCK 17 /OUTPUT_BYTE 4 /IO_OPTIONAL YES"
SIGNAL 97 = "/OUTPUT_BLOCK 1 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 1 XIO
SIGNAL 105 = "/OUTPUT_BLOCK 3 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 1
SIGNAL 113 = "/OUTPUT_BLOCK 3 /OUTPUT_BYTE 2 /IO_OPTIONAL YES"
IO Blox
SIGNAL 121 = "/OUTPUT_BLOCK 3 /OUTPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 129 = "/OUTPUT_BLOCK 3 /OUTPUT_BYTE 4 /IO_OPTIONAL YES"
Robot 2 XIO
SIGNAL 137 = "/OUTPUT_BLOCK 2 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
SIGNAL 145 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 1 /IO_OPTIONAL YES"
Robot 2
SIGNAL 153 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 2 /IO_OPTIONAL YES"
IO Blox
SIGNAL 161 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 169 = "/OUTPUT_BLOCK 4 /OUTPUT_BYTE 4 /IO_OPTIONAL YES"
.ROBOT
BELT 1 = "/POS_LATCH 1 /LATCH_BUFFER 3"
BELT 2 = "/POS_LATCH 2 /LATCH_BUFFER 3"
Robot 1 & 2
ROBOT 1 = "/MODULE -1 /OUTPUT_BLOCK 1 /OUTPUT_BYTE 2 /IO_OPTIONAL
Internal
ROBOT 2 = "/MODULE -1 /OUTPUT_BLOCK 2 /OUTPUT_BYTE 2 /IO_OPTIONAL
Outputs
Abbildung 11.8: Beispiel einer Konfigurationsdatei für digitale Eingänge/Ausgänge
146
Adept Cobra s600/s800 Roboter Betriebsanleitung, Rev H
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