Function IO
About 3 min
Function IO
Description of Function IO
According to IEC61131-1, JAKA defines the following ranges for high and low for function IO:
| V+ Voltage | Low Range | High Range |
|---|---|---|
| 24V | 0~11V | 15~24V |
DI Description
| Function Name | Function Description | Trigger Method |
|---|---|---|
| Run Program | When the DI of “run program” is triggered, the robot runs the loaded program in the programming interface, and this DI is used to re-run the stopped program. | Rising edge signal |
| Pause Program | When the DI of “pause program” is triggered, the robot pauses the loaded program in the programming interface. Trigger the DI of “resume program” can resume the program. | Rising edge signal |
| Resume Program | When the DI of “resume program” is triggered, the robot resumes the loaded program in the programming interface, and this DI is used to resume the paused program. | Rising edge signal |
| Stop Program | When the DI of “stop program” is triggered, the robot stops the loaded program in the programming interface. Trigger the DI of “run program” to re-run the program. | Rising edge signal |
| Power On the Robot | When the DI of “power on the robot” is triggered, the robot is powered on. | Rising edge signal |
| Power Off the Robot | When the DI of “power off the robot” is triggered, the robot is powered off. | Rising edge signal |
| Enable the Robot | When the DI of “enable the robot” is triggered, the robot is enabled. | Rising edge signal |
| Disable the Robot | When the DI of “disable the robot” is triggered, the robot is disabled. | Rising edge signal |
| Level 1 Decelerated Mode | When the DI of “level 1 decelerated mode” is triggered, the robot decelerates and enters the level 1 decelerated mode. | Low signal |
| Level 2 Decelerated Mode | When the DI of “level 2 decelerated mode” is triggered, the robot decelerates and enters the level 2 decelerated mode. | Low signal |
| Safeguard Stop | When the DI of “safeguard stop” is triggered, the robot stops. | Low level signal |
| Return to Initial Position | When the DI of “return to initial position” is triggered, the robot moves to the initial orientation set in the 【Safety Settings】>【Robot Orientation】 interface. | Rising edge signal |
| Clear Error | When the DI of “clear error” is triggered, the robot collision alarm is lifted. | Rising edge signal |
| Freedrive Mode On | When the DI of “freedrive mode on” is triggered, robot enters the freedrive mode. | Rising edge signal |
| Freedrive Mode Off | When the DI of “freedrive mode off” is triggered, robot exits the freedrive mode. | Rising edge signal |
Note:
- The level 2 decelerated percentage should be smaller than the level 1 decelerated percentage. Set the decelerated percentage in【Settings】>【Program Settings】>【Decelerated Percentage Configuration】.
- The triggering of function I/O is through detecting the edge signal**.** In order to avoid the delay caused by the network communication fluctuation to affect the triggering of function I/O, it is recommended to keep the level signal before and after the edge signal (rising edge or falling edge) at least 500ms.
DO Description
| Robot state | Function Description | Signal state |
|---|---|---|
| Idle | Idle means robot is not running the program. | High signal |
| Program Paused | Program paused means that the loaded program in the programming interface is paused. | High signal |
| Program Running | Program running means that the loaded program in the programming interface is running. | High signal |
| Error | Error means that the robot collision alarm is triggered. | High signal |
| Robot Powered On | Robot powered on means that the robot is powered on. | High signal |
| Robot Enabled | Enabled means that the robot is enabled. | High signal |
| Moving | Moving means that the robot is moving (programming control, manual control, secondary development control, etc.). | High signal |
| Stationary | Stationary means that the robot is not moving (program paused, program not running, program exited, waiting for signal, etc.). | High signal |
| Control Cabinet Powered Up | Control cabinet powered up means that the control cabinet is powered up. | High signal |
| Emergency Stop State | Emergency stop state means that the robot is stopped, disabled and powered off. | High signal |
| Safeguard Stop State | Safeguard stop state means that the robot is stopped. | High signal |
| Initial Position | Initial position is the initial orientation set in the 【Safety Settings】>【Robot Orientation】 interface. When the robot is in this position, this signal will be triggered. | High signal |
| Freedrive State | Freedrive state means that the robot is in freedrive mode. | High signal |
| Collision State | Collision state means that the robot collided. | High signal |
| Level 1 Decelerated State | Level 1 decelerated state means that the robot is in level 1 decelerated mode. | High signal |
| Level 2 Decelerated State | Level 2 decelerated state means that the robot is in level 2 decelerated mode. | High signal |