How To Use Immi I/O In Regular Program Nodes - Universal Robots e Series Installation Manual

9. IMMI I/O in regular program nodes
• Manufacturer Dependent: These signals are optional, but can be used, as needed, for
specific purposes by the IMM manufacturer.
• Safety
In the robot column, the Emergency Stop indicator cannot be controlled from this screen. It
simply indicates the robot is emergency stopped.
The emergency stop signal from the machine indicates whether the IMM is emergency
stopped. The Safeguard Open input shows the state of the "Safety devices" signals specified
in the EUROMAP 67 standard.
If a program structure does not include I/O signals, but still intended for use in a robot program, you
can use the Action and Wait nodes described in the following section.

9.1.2. How to use IMMI I/O in regular program nodes

Wait
1. On PolyScope, in the Header, tap Program.
2. Under Basic, select Wait.
3. In the Command panel, under Wait, select Wait for Digital Input to access the IMM input
options.
Set
1. On PolyScope, in the Header, tap Program.
2. Under Basic, select Set.
3. In the Command panel, under Select any of the following options
• Set Digital Output: Select from a list of outputs from robot to IMM.
• Set: Select outputs and use expressions together.
• Set Single Pulse: Select outputs and define pulse duration.
Expression
You can accesss the Expression Editor from multiple nodes.
1. Tap the desired node and select the f(x) text field to open the Expression Editor.
NOTE
For more information, refer to the robot User Manual available on the support
website:
•
https://www.universal-robots.com/support/
Installation Guide
e-Series Injection Molding Machine
25
Interface (IMMI)