Basic Characteristics RAPID

RAPID Summary Input and Output Signals
6 Input and Output Signals
The robot can be equipped with a number of digital and analog user signals that can be
read and changed from within the program.
6.1 Programming principles
The signal names are defined in the system parameters and, using these names, can be
read from the program.
The value of an analog signal or a group of digital signals is specified as a numeric
value.
6.2 Changing the value of a signal
Instruction Used to:
InvertDO Invert the value of a digital output signal
PulseDO Generate a pulse on a digital output signal
Reset Reset a digital output signal (to 0)
Set Set a digital output signal (to 1)
SetAO Change the value of an analog output signal
SetDO Change the value of a digital output signal (symbolic value;
e.g. high/low)
SetGO Change the value of a group of digital output signals
6.3 Reading the value of an input signal
The value of an input signal can be read directly, e.g. IF di1=1 THEN ...
6.4 Reading the value of an output signal
Function Used to read the value of:
DOutput A digital output signal
GOutput A group of digital output signals
RAPID Reference Manual 3-19