In this settings menu, it is possible to set and configure all settings relating to the I/O cards and the various inputs and outputs.
The robot system is equipped with two I/O cards (MAIN and Tool) as standard. Additional I/O cards can be connected to horstCONTROL, allowing the number of inputs and outputs to be extended.
Naming
In the I/O naming submenu, inputs and outputs as well as the I/O cards themselves can be named. These aliases are used to assign connected devices/machines to the robot system and to improve readability at all points in horstFX where inputs and outputs are used or displayed.
The following options are available in the Type selection field:
- On - Inputs
- Off - Outputs
- Other - other inputs/outputs (e.g. safety I/O)
The list shows all inputs/outputs for which an alias has been assigned.
General I/O
The configuration of inputs and outputs, especially safety inputs/outputs, may only be carried out by authorised personnel. This can lead to
In the General I/O submenu, it is possible to configure inputs and outputs using various setting options. Functions can be assigned, a low-pass filter value (inputs only) can be specified or the Push Pull or Highside option can be selected as the switching mode (outputs only).
The signal can also be inverted: 0 instead of 1, 1 instead of 0.
A flag bit can be set for inputs. This means that a freely selectable bool register is set to 1. This allows you to react to this signal in the programme sequence, even if it is no longer present. For example, a button can be pressed in certain situations and, if programmed accordingly, the programme can be moved to a different programme execution branch at a later time.
Special I/O
The Special I/O submenu is used to define special I/Os as digital inputs or outputs. In addition, the Push Pull or Highside option can be selected as the switching mode (outputs only).
Safety I/O
The configuration of inputs and outputs, especially safety inputs/outputs, may only be carried out by authorised personnel. This can lead to
In the Safety I/O submenu, the safety I/O can be configured using various setting options. Functions can be assigned and set and internal OSSD can be activated.
A low-pass filter value can also be set for safety inputs.
A read-back channel can be activated for safety outputs. If this is activated, you can set whether the signal of the read-back channel should be inverted and which two inputs should be assigned to channel A and channel B.
To monitor the TCP speed, the offsets (X, Y and Z) of up to three tools can be specified here. All specified tools are taken into account during monitoring so that the speed is not exceeded for any of the specified tools.
The Robot and horstFX checkboxes are used to display whether the connected robot is of type 'fast' and whether a robot model of type 'fast' is used in horstFX or not. If the configuration is invalid, corresponding (error) messages appear.
