I/O: Difference between revisions
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This page details the use of the input and output instructions within a program.
FANUC robots have the capacity to communicate with the real world. This means communicating with other robots, sensors, human interface devices, plc's, electromechanical devices...
[[File:inst-open-close-gripper_orig.gif|thumb|How to add an instruction that changes a robot output (The gripper tool)]]The robot's I/O operate much like register instructions.
== Racks==
FANUC robots use an addressing syntax that sorts [https://en.wikipedia.org/wiki/Peripheral peripheral devices] into what is known as racks.
Each peripheral device contains its own series of inputs and outputs that are referenced by numbers. The selection of device is set by which rack it is. Unlike a PLC system where racks would just be stacks of controllers, the FANUC system references them by their interface.
On our robot, we use rack number 48 for our I/O that connect to internal Honda connectors for 20 digital inputs and 20 digital outputs.
For a more complete listing of rack designations on FANUC controllers, see [[Racks]].
==Physical I/O Options==
===Robot I/O===
Robot I/O is reserved for devices directly related to the robot operations. This includes devices like the gripper, pneumatics, end of arm sensors.
Digital Output 101 is connected to the laser built into the robot gripper.
===Digital I/O===
[[File:Honda connector.jpg|thumb|Honda Connector Pinouts|link=https://mh142.com/wiki/File:Honda_connector.jpg]]This is the pinout diagram for the internal I/O connections. They are 24 volts and cannot directly drive anything.
On our robots, we interface with these through optical isolators to ensure no damage can come to the robot.
[https://en.wikipedia.org/wiki/Digital_signal Digital] I/O can only exist in two states - ON or OFF. This means it will either have 24V or 0V on an associated pin.
*Outputs come from the robot to communicate with and control peripherals.
**Our Digital Outputs begin at 101 and run to 120.
***Digital Output 101 is connected to the laser built into the robot gripper.
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*Inputs come from sensors and other devices to feed data and direction into programs.
**Our Digital Inputs begin at 101 and run to 120.
===Analog I/O===
[https://en.wikipedia.org/wiki/Analog_signal Analog] values do not exist on our robot, but can be made available through PLC integration or other controller. They can be numeric values with a range that is determined by the analog converter's resolution. Sampling speed, rate, accuracy, and precision are determined by the specific device used to input analog value.
Analog inputs read a voltage, but can derive many values from that reading with minimal external circuitry. Examples are current, resistance, distance, weight, and even reflectivity.
===User I/O===
===Group I/O===
[[File:Binary.png|thumb|300x300px|How Binary Numbers Are Calculated|link=https://mh142.com/wiki/File:Binary.png]]Group I/O is a derived value spanning the binary values of multiple digital I/O. To utilize group inputs, designate which digital inputs are part of the parallel binary string in the I/O menu, then call it as GI[#] in your program wherever valid.
https://motioncontrolsrobotics.com/simulate-inputs-outputs-fanuc-teach-pendant/
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