ABB robots set of input / output signals are set consortium robot separate input signal / output signal for the group is the most commonly used set of signals with an external device through the transmission integer number, in fact, may be used in addition to the group signals with an external device transmission integer, there are many other uses, this time we will look together a set of signals ABB robots few people know those things.
Improve the utilization of signal
In normal use, a signal 0 or 1 only two states, sometimes due to hardware limitations, such as insufficient number of points IO IO board but is inconvenient in the case of the new IO board groups can be used to improve the signal using the signal rate, such as using only four signal 16 states can be achieved in the combinations shown in the table below by way of 8421:
| State-number |
3 address value |
Address 2 value |
Address 1 value |
Address value 0 |
Group signal values |
| 1 |
0 |
0 |
0 |
0 |
0 |
| 2 |
0 |
0 |
0 |
1 |
1 |
| 3 |
0 |
0 |
1 |
0 |
2 |
| 4 |
0 |
0 |
1 |
1 |
3 |
| 5 |
0 |
1 |
0 |
0 |
4 |
| 6 |
0 |
1 |
0 |
1 |
5 |
| 7 |
0 |
1 |
1 |
0 |
6 |
| 8 |
0 |
1 |
1 |
1 |
7 |
| 9 |
1 |
0 |
0 |
0 |
8 |
| 10 |
1 |
0 |
0 |
1 |
9 |
| 11 |
1 |
0 |
1 |
0 |
10 |
| 12 |
1 |
0 |
1 |
1 |
11 |
| 13 |
1 |
1 |
0 |
0 |
12 |
| 14 |
1 |
1 |
0 |
1 |
13 |
| 15 |
1 |
1 |
1 |
0 |
14 |
| 16 |
1 |
1 |
1 |
1 |
15 |
Some junior partner may not be familiar with 8421 yards, then the system comes with Windows calculator can help us get the corresponding decimal number of 8421 yards.
The robot while improving safety logic signal when a plurality of signals waiting to simplify the code.
For example, now we need to wait four outputs (input) signal at the same time as the robot 1 then we should continue with the instructions below how to write it?
plan 1
WaitDI di0,1;
WaitDI di1,1;
WaitDI di2,1;
WaitDI di3,1;
Option One has two problems, one is the time when the signal too much code will be very long, and second, will handle multiple signals there is a time difference is not safe. For example, when the program went di1 pointer when di0 suddenly becomes 0, and the robot will continue to execute down.
Scenario 2
WaitUntil di0=1 AND di1=1 AND di2=1 AND di3=1;
Scheme 2 time difference will not be a problem, but when the signal conditions are very long program statement will be very complicated, very long.
Scheme 3
如果上述四个信号配置成一个组输入，则我们只需要下面的一条指令就可以了。
WaitGI GI0,15;
那么有的小伙伴会问了，如果我的信号地址不是连续的怎么办？那么下面我们再接着看一下组信号地址配置时的两个小技巧，一是地址不连续的处理，二是组信号与外围设备通讯时高低字节不匹配的问题的处理。
不连续地址的处理
在ABB机器人的组信号配置中，地址连续的信号可以使用英文半角的“-”号将组信号的首地址与末地址连接起来即可，比如组输入GI0所占用的地址为0,1,2,3,4,5,6,7那么地址配置成“0-7”就可以了，如下图所示：
如果组信号的地址是不连续的地址，那么就需要通过使用英文半角的“,”来将不连续的地址依次配置，如下图所示：
组信号的高低字节问题
ABB机器人在与某些外围设备如西门子的PLC进行通讯时会有高低字节不对应的问题，对于这种问题要想通讯正常，就必须有一方设备对信号做处理，在西门子PLC中可以用swap指令进行地址的高低互换，或者在ABB机器人中配置地址时用英文半角的“,”号将地址的顺序颠倒一下。
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