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ROBOT I/O
The robot is equipped with 2 air inputs, 10 signal lines, and 3 solenoid valves. One of the air inputs feeds
the three solenoid valves and the other one is pass-through. The signal lines are able to electronically
operate an end effector in the robot via logic programming. Below are two diagrams that show the
location and layout of the robot's air routing and signal lines.
Setting I/O in WINCAPS is simple. There are two ways to program I/O. The first is using semaphores
with the TAKESEM command or directly setting an I/O pin using the SET IO command:
SET IO(###)
RESET IO(###)
SET IO will signal a port on and RESET IO will signal a port off. It is also possible to read an input from
an I/O port
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