Description Use the I/O Setup screen to define I/O signals and configure actions with the I/O tab
control. The types of I/O signals are listed under Input and Output.
You can use a fieldbus, for example, Profinet and EtherNet/IP, to access the general
purpose registers.
If you enable the Tool Communication Interface (TCI), the tool analog input becomes
unavailable.
I/O Signal Type To limit the number of signals listed under Input and Output, use the View drop-down
menu to change the displayed content based on signal type.
Assigning User-
defined Names
You can name the Input and Output signals to easily identify the ones being used.
1. Select the desired signal.
2. Tap the text field to type a name for the signal.
3. To reset the name to default, tap Clear.
You must provide a user-defined name for a general purpose register to make it
available in the program (i.e., for a Wait command or the conditional expression of an If
command).
The Wait and If commands are described in (19.7.4 Waiton page224) and (19.8.4 Ifon
page241), respectively. You can find named general purpose registers in the Input or
Output selector on the Expression Editor screen.
I/O Actions and
I/O Tab Control
You can use Physical and Fieldbus digital I/Os to trigger actions or react to the status of
a program.
I/O Tab Control Use I/O Tab Control to specify whether an output is controlled on the I/O tab (by either
programmers, or both operators and programmers), or if it is controlled by the robot
programs.
UR10e 286 User Manual
Copyright © 2009–2024 by UniversalRobotsA/S. All rights reserved.
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