ID : 2157

Internal I/O

An internal I/O is a variable that behaves as I/O port but has no mechanical connection. This variable is available for both an input command and output command.

One of the applications of this variable is to release interlock between programs.
The number of port to be used as internal I/O is predetermined. For details, refer to the "I/O Port Map and Allocation" of RC8 SERIES ROBOT CONTROLLER MANUAL.

Example

In the sample program below, once a robot finishes the motion of Pro1, Pro2 will start to execute Pro3.

'Pro1
Sub Main 
    TakeArm Keep = 0

    Move P, J0
    Set IO128 'Turning ON the internal I/O 128
    
End Sub

'Pro2
Sub Main 

    Wait IO128 'Execute Pro3 once the internal I/O 128 turns ON
    Run Pro3
    
End Sub

How to Refer and Switch Internal Variables

As a general I/O, you can refer to and/or set internal variables with a teach pendant and WINCAPSIII.

For details, refer to the "Displaying and Operation of I/O" of TEACH PENDANT OPERATION GUIDE or "Monitoring I/O" and "ON/OFF Operation of Internal I/Os and User Output Signals" of WINCAPSIII GUIDE.

I/O Command

I/O command enables external devices not only to get an internal I/O state but also to turn ON/OFF an internal I/O.

For details, refer to the "List of I/O Commands" of SYSTEM I/O SIGNALS GUIDE.

ID : 2157

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