18.4 I/O action and wait
18.4 I/O action and wait
As the robot digital outputs can be set by an Action node, so can also the EUROMAP
67 output signals. When the EUROMAP 67 interface is installed, the signals appear
in the menues where they can be selected. Also, as the robot digital inputs, EU-
ROMAP 67 input signals can be used to control the program behavior by inserting
a Wait node, which makes the program wait until an input is either high or low.
For advanced users, an output can be set to the value of a specified expression.
Such expression may contain both inputs, outputs, variables, etc., and can be used
to obtain complex program functionality. Likewise, a Wait node can be set to wait
until the value of an expression is true. Generally, the EUROMAP 67 signals will
all be available on the expression screen, which means that they can be used in all
circumstances where an expression can be selected.
In order to use signals, which are not part of the EUROMAP 67 program structures,
they must be either set or read “manually” from a program, by inserting additional
Action, Wait, etc. nodes. This applies to e.g. the manufacturer dependent and the
reserved signals, which are all usable although not shown on the EUROMAP 67
I/O tab. This also means that in order to make use of the inputs Reject and Interme-
diate Mould Opening Position, the template program will have to be customized and
extended.
Finally, it is recommended to NOT set the Mould Area Free signal manually, as this
may cause hazardous situations.
CB3 III-20 Version 3.4.5
Copyright © 2009–2017 by Universal Robots A/S. All rights reserved.
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