Inputs And Outputs; Communication - ABB IRB 6400R Product On-Line Manual

2.10 Inputs and Outputs

A distributed I/O system is used, which makes it possible to mount the I/O units either
inside the cabinet or outside the cabinet with a cable connecting the I/O unit to the
cabinet.
A number of different input and output units can be installed:
- Digital inputs and outputs.
- Analog inputs and outputs.
- Remote I/O for Allen-Bradley PLC.
- Interbus-S Slave.
- Profibus DP Slave.
The inputs and outputs can be configured to suit your installation:
- Each signal and unit can be given a name, e.g. gripper, feeder.
- I/O mapping (i.e. a physical connection for each signal).
- Polarity (active high or low).
- Cross connections.
- Up to 16 digital signals can be grouped together and used as if they were a
single signal when, for example, entering a bar code.
Signals can be assigned to special system functions, such as program start, so as to be
able to control the robot from an external panel or PLC.
The robot can work as a PLC by monitoring and controlling I/O signals:
- I/O instructions can be executed concurrent to the robot motion.
- Inputs can be connected to trap routines. (When such an input is set, the
trap routine starts executing. Following this, normal program execution
resumes. In most cases, this will not have any visible effect on the robot motion,
i.e. if a limited number of instructions are executed in the trap routine.)
- Background programs (for monitoring signals, for example) can be
run in parallel with the actual robot program. Requires Multitasking option, see
Product Specification RobotWare.
Manual functions are available to:
- List all the signal values.
- Create your own list of your most important signals.
- Manually change the status of an output signal.
- Print signal information on a printer.
I/O signals can also be routed parallel or serial to connectors on the upper arm of the
robot.

2.11 Communication

The robot can communicate with computers or other equipment via RS232/RS422
serial channels or via Ethernet. However this requires optional software, see Product
Specification RobotWare.
Product Specification IRB 6400R M99/BaseWare OS 3.2
Description
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