FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual

14. INPUT/OUTPUT SYSTEM

MARRC75KR07091E Rev D

14.2.1

Robot Digital Input and Output Signals (RDI/RDO)

Robot I/O is the input and output signals between the controller and the robot. These signals are sent

to the EE (End Effector) connector located on the robot. The number of robot input and output

signals (RDI and RDO) varies depending on the number of axes in the system. For more information

on configuring Robot I/O, refer to the appropriate application-specific FANUC Robotics Setup and

Operations Manual.

RDI[1] through RDI[8] are available for tool inputs. All or some of these signals can be used,

depending on the robot model. Refer to the Maintenance Manual specific to your robot model,

for more information.

RDO[1] through RDO[8] are available for tool control. All or some of these signals can be used,

depending on the robot model. Refer to the Maintenance Manual specific to your robot model,

for more information.

RDO[1] through RDO[4] are the same signals set using OPEN, CLOSE, and RELAX hand. See

Section 14.1.4 .

14.2.2

Operator Panel Input and Output Signals (OPIN/OPOUT)

Operator panel input and output signals are the input and output signals for the standard operator panel

(SOP) and for the user operator panel (UOP).

Operator panel input signals are assigned as follows:

• The first 16 signals, OPIN[0] - OPIN[15], are assigned to the standard operator panel.

• The next 18 signals, OPIN[16] - OPIN[33], are assigned to the user operator panel (UOP). If

you have a process I/O board, these 18 UOP signals are mapped to the first 18 input ports on

the process I/O board.

Operator panel output signals are assigned as follows:

• The first 16 signals, OPOUT[0] - OPOUT[15], are assigned to the standard operator panel.

• The next 20 signals, OPOUT[16] - OPOUT[35], are assigned to the user operator panel (UOP).

If you have a process I/O board, these 20 UOP signals are mapped to the first 20 output ports

on the process I/O board.

Standard Operator Panel Input and Output Signals

Standard operator panel input and output signals are recognized by the KAREL system as OPIN[0] -

OPIN[15] and OPOUT[0] - OPOUT[15] and by the screens on the teach pendant as SI[0] - SI[15] and

SO[0] - SO[15]. Table 14-1 lists each standard operator panel input signal. Table 14-2 lists each

standard operator panel output signal.

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Table 14-1. Standard Operator Panel Input Signals

OPIN[n]

SI[n]

Function

Description

OPIN[0]

SI[0]

NOT USED

OPIN[1]

SI[1]

FAULT RESET

This signal is normally turned OFF, indicating that the

FAULT RESET button is not being pressed.

OPIN[2]

SI[2]

REMOTE

This signal is normally turned OFF, indicating that the

controller is not set to remote.

OPIN[3]

SI[3]

HOLD

This signal is normally turned ON, indicating that the

HOLD button is not being pressed.

OPIN[6]

SI[6]

CYCLE START

This signal is normally turned OFF, indicating that the

CYCLE START button is not being pressed.

OPIN[7] - OPIN[15]

SI[7], SI[10] -

NOT USED

SI[15]

SI[8] SI[9]

CE/CR Select b0

This signal is two bits and indicates the status of the

CE/CR Select b1

mode select switch.

Table 14-2.

Standard Operator Panel Output Signals

OPOUT[n]

SOI[n]

Function

Description

OPOUT[0]

SO[0]

REMOTE LED

This signal indicates that the controller is set to remote.

OPOUT[1]

SO[1]

CYCLE START

This signal indicates that the CYCLE START button

has been pressed or that a program is running.

OPOUT[2]

SO[2]

HOLD

This signal indicates that the HOLD button has been

pressed or that a hold condition exists.

OPOUT[3]

SO[3]

FAULT LED

This signal indicates that a fault has occurred.

OPOUT[4]

SO[4]

BATTERY ALARM

This signal indicates that the CMOS battery voltage

is low.

OPOUT[5]

SO[5]

USER LED#1 (PURGE

This signal is user-definable.

COMPLETE for

P-series robots)

OPOUT[6]

SO[6]

USER LED#2

This signal is user-definable.

OPOUT[7]

SO[7]

TEACH PENDANT

This signal indicates that the teach pendant is enabled.

ENABLED

OPOUT[8] -

SO[8] - SO[15]

NOT USED

OPOUT[15]

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MARRC75KR07091E Rev D

User Operator Panel Input and Output Signals

User operator panel input and output signals are recognized by the KAREL system as OPIN[16]-

OPIN[33] and OPOUT[16]-OPOUT[35] and by the screens on the teach pendant as UI[1]-UI[18]

and UO[1]-UO[20]. On the process I/O board, UOP input signals are mapped to the first 18 digital

input signals and UOP output signals are mapped to the first 20 digital output signals. Table 14-3 lists

and describes each user operator panel input signal. Table 14-4 lists each user operator panel output

signal. Figure 14-2 and Figure 14-3 illustrate the timing of the UOP signals.

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14. INPUT/OUTPUT SYSTEM

Table 14-3.

User Operator Panel Input Signals

OPIN[n]

UI[n]

Process I/O

Function

Description

Number

OPIN[16]

UI[1]

*IMSTP

*IMSTP is the immediate stop software signal.

Always active

*IMSTP is a normally OFF signal held ON that when

set to OFF will

•

Pause a program if running.

•

Shut off power to the servos.

•

Immediately stop the robot and applies robot

brakes.

Error code SRVO-037 *IMSTP Input (Group:i)

will be displayed when this signal is lost. This

signal is always active.

Warning

*IMSTP is a software controlled

input and cannot be used

for safety purposes. Use

*IMSTP with EMG1, EMG2, and

EMGCOM to use this signal

with a hardware controller

emergency stop. Refer to

the Maintenance Manual,

specific to your robot model,

for connection information of

EMG1, EMG2, and EMGCOM.

OPIN[17]

UI[2]

*HOLD

*HOLD is the external hold signal. *HOLD is a

Always active

normally OFF signal held ON that when set to OFF

will

• Pause program execution.

• Slow motion to a controlled stop and hold.

• Optional Brake on Hold shuts off servo power

after the robot stops.

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Table 14-3. User Operator Panel Input Signals (Cont’d)

OPIN[n]

UI[n]

Process I/O

Function

Description

Number

OPIN[18]

UI[3]

*SFSPD

*SFSPD is the safety speed input signal. This signal

Always active

is usually connected to the safety fence.*SFSPD is a

normally OFF signal held ON that when set OFF will

• Pause program execution.

• Reduce the speed override value to that

defined in a system variable. This value cannot

be increased while *SFSPD is OFF.

• Display error code message MF-0004 Fence

Open.

• Not allow a REMOTE start condition. Start

inputs from UOP or SOP are disabled when

*SFSPD is set to OFF.

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14. INPUT/OUTPUT SYSTEM

Table 14-3.

User Operator Panel Input Signals (Cont’d)

OPIN[n]

UI[n]

Process I/O

Function

Description

Number

OPIN[19]

UI[4]

CSTOPI

CSTOPI is the cycle stop input. When CSTOPI

Always active

becomes TRUE, the system variable $CSTOP is

set to TRUE. In addition, if the system variable

$SHELL_CONFIG.$shell_name is not TRUE or

is uninitialized at power up, CSTOPI functions

as follows, depending on the system variable

$SHELL_CFG.$USE_ABORT. If the system

variable $SHELL_CFG.$USE_ABORT is set to

FALSE , the CSTOPI input

• Clears the queue of programs to be executed

that were sent by RSR signals.

Warning

When

$SHELL_CFG.USE_ABORT

is FALSE, CSTOPI does not

immediately stop automatic

program execution.

• Automatic execution will be stopped after the

current program has finished executing.

If the system variable

$SHELL_CFG.$USE_ABORT is set

to TRUE, the CSTOPI input

• Clears the queue of programs to be executed

that were sent by RSR signals.

• Immediately aborts the currently executing

program for programs that were sent to be

executed by either RSR or PNS.

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MARRC75KR07091E Rev D

Table 14-3.

User Operator Panel Input Signals (Cont’d)

OPIN[n]

UI[n]

Process I/O

Function

Description

Number

OPIN[20]

UI[5]

FAULT_RESET

FAULT_RESET is the external fault reset signal.

Always active

When this signal is received

• Error status is cleared.

• Servo power is turned ON.

• A paused program will not be resumed.

OPIN[21]

UI[6]

START

START is the remote start input. How this

Active when the robot

signal functions depends on the system variable

is in a remote condition

$SHELL_CFG.$CONT_ONLY. If the system

(CMDENBL = ON)

variable $SHELL_CFG.$CONT_ONLY is set to

FALSE , the START input signal will

• Resume a paused program.

• If a program is not paused, the currently

selected program starts from the position of the

cursor.

If the system variable

$SHELL_CFG.$CONT_ONLY is set

to TRUE, the START input signal will

• Resume a paused program only. The

PROD_START input must be used to start a

program from the beginning.

OPIN[22]

UI[7]

HOME

HOME is the home input. When this signal is

Active when the robot is

received the robot moves to the defined home

in a remote condition

position.

OPIN[23]

UI[8]

ENBL

ENBL is the enable input. This signal must be ON

Always active

to have motion control ability. When this signal is

OFF, robot motion can be done. When ENBL is ON

and the REMOTE switch on the operator panel is

in the REMOTE position, the robot is in a remote

operating condition.

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14. INPUT/OUTPUT SYSTEM

Table 14-3.

User Operator Panel Input Signals (Cont’d)

OPIN[n]

UI[n]

Process I/O

Function

Description

Number

OPIN[24]-

UI[9]-

9- 126

RSR1/PNS1,

RSR1-8 are the robot service request input

OPIN[31]

UI[16]

RSR2/PNS2,

signals. When one of these signals is received,

RSR3/PNS3,

the corresponding RSR program is executing

RSR4/PNS4,RSR5/PNS5,

or, or a program is running currently, stored in a

,RSR6/PNS6,

queue for later execution. RSR signals are used

,RSR7/PNS7,

for production operation and can be received while

,RSR8/PNS8

an ACK output is being pulsed. See Figure 14-2 .

Active when the robot

PNS 1-8 are program number select input signals.

is in a remote condition

PNS selects programs for execution, but does not

(CMDENBL = ON)

execute programs . Programs that are selected

by PNS are executed using the START input or the

PROD_START input depending on the value of the

system variable $SHELL_CFG.$CONT_ONLY.The

PNS number is output by pulsing the SNO signal

(selected number output) and the SNACK signal

(selected number acknowledge). See Figure 14-3 .

OPIN[32]

UI[17]

PNSTROBE Active when

The PNSTROBE input is the program number select

the robot is in a remote

strobe input signal. See Figure 14-3 .

condition (CMDENBL =

ON)

OPIN[33]

UI[18]

PROD_START Active

The PROD_START input, when used with PNS, will

when the robot is in

initiate execution of the selected program from the

a remote condition

PNS lines. When used without PNS, PROD_START

(CMDENBL = ON)

executes the selected program from the current

cursor position. See Figure 14-3 .

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MARRC75KR07091E Rev D

Table 14-4.

User Operator Panel Output Signals

OPOUT[n]

UO[n]

Process I/O

Function

Description

Number

OPOUT[16]

UO[1]

CMDENBL

CMDENBL is the command enable output.

This output indicates that the robot is in

a remote condition. This signal goes ON

when the REMOTE switch is turned to ON

or when the ENBL input is received. This

output only stays on when the robot is not

in a fault condition. See Figure 14-2 and

Figure 14-3 .

OPOUT[17]

UO[2]

SYSRDY

SYSRDY is the system ready output. This

output indicates that servos are turned

ON.

OPOUT[18]

UO[3]

PROGRUN

PROGRUN is the program run output.

This output turns on when a program is

running. See Figure 14-3 .

OPOUT[19]

UO[4]

PAUSED

PAUSED is the paused program output.

This output turns on when a program is

paused.

OPOUT[20]

UO[5]

HELD

HELD is the hold output. This output turns

on when the SOP HOLD button has been

pressed, or the UOP *HOLD input is OFF.

OPOUT[21]

UO[6]

FAULT

FAULT is the error output. This output

turns on when a program is in an error

condition.

OPOUT[22]

UO[7]

ATPERCH

Not supported. Refer to the appropriate

application-specific FANUC Robotics

Setup and Operations Manual ,

“Reference Position Utility” section.

OPOUT[23]

UO[8]

TPENBL

TPENBL is the teach pendant enable

output. This output turns on when the

teach pendant is on.

OPOUT[24]

UO[9]

BATALM

BATALM is the battery alarm output. This

output turns on when the CMOS RAM

battery voltage goes below 3.6 volts.

OPOUT[25]

UO[10]

BUSY

BUSY is the processor busy output. This

signal turns on when the robot is executing

a program or when the processor is busy.

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14. INPUT/OUTPUT SYSTEM

Table 14-4.

User Operator Panel Output Signals (Cont’d)

OPOUT[n]

UO[n]

Process I/O

Function

Description

Number

OPOUT[26]

UO[11]- UO[18]

11-

ACK1/SNO1,

ACK 1-8 are the acknowledge signals

OPOUT[33]

ACK2/SNO2,

output 1 through 4. These signals turn

ACK3/SNO3,

on when the corresponding RSR signal

ACK4/SNO4,

is received. See Figure 14-2 SNO 1-8

ACK5/SNO5,

are the signal number outputs. These

ACK6/SNO6,

signals carry the 8-bit representation

ACK7/SNO7,

of the corresponding PNS selected

ACK8/SNO8

program number. If the program cannot be

represented by an 8-bit number, the signal

is set to all zeroes or off. See Figure 14-3 .

OPOUT[34]

UO[19]

SNACK

SNACK is the signal number acknowledge

output. This output is pulsed if the program

is selected by PNS input. See Figure 14-3

OPOUT[35]

UO[20]

RESERVED

OPOUT[36]

UO[21]

UNCAL (option)

UNCAL is the uncalibrated output. This

output turns on when the robot is not

calibrated. The robot is uncalibrated

when the controller loses the feedback

signals from one or all of the motors. Set

$OPWORK.$OPT_OUT = 1 to use this

signal.

OPOUT[37]

UO[22]

UPENBL (option)

UPENBL is the user panel enable output.

This output indicates that the robot is

in a remote condition. This signal goes

on when the remote switch is turned to

ON or when the ENBL input is received.

This output will stay on even if the

robot is in a fault condition. Set

$OPWORK.$OPT_OUT = 1 to use this

signal.

OPOUT[38]

UO[23]

LOCKED (option)

OPOUT[39]

UO[24]

CSTOPO (option)

CSTOPO is the cycle stop output.

This output turns on when the

CSTOPI input has been received.

Set $OPWORK.$OPT_OUT = 1 to use

this signal.

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14. INPUT/OUTPUT SYSTEM

Figure 14-3. PNS Timing Diagram

CMDENBL

Remote Condition

OUTPUT

PNS 1 8

Program Number is Selected

INPUT

PNSTROBE

INPUT

While PNSTROBE is ON, program selection modification is not allowed

PNS selected program is read within 32 ms from PNSTROBE rising edge

PNSTROBE

DETECTION

SNO1 8

OUTPUT

SNACK

OUTPUT

Pulse width is specified

in PNS Setup screen.

PROD_START

INPUT

PROGRUN

OUTPUT

Program is run within 32

ms from PROD_START

falling edge.

14.2.3

Teach Pendant Input and Output Signals (TPIN/TPOUT)

The teach pendant input signals (TPIN) provide read access to input signals generated by the teach

pendant keys. Teach pendant inputs can be accessed through the TPIN port arrays. A KAREL

program treats teach pendant input data as a BOOLEAN data type. The value is either ON (active--the

key is pressed) or OFF (inactive--the key is not pressed). TPIN signals are accessed in KAREL

programs by the name TPIN[n], where “n” is the signal number, which is assigned internally. Refer to

Table 14-5 for teach pendant input signal assignments.

Table 14-5. Teach Pendant Input Signal Assignments

TPIN[n]

Teach Pendant Key

EMERGENCY STOP AND DEADMAN

TPIN[250]

EMERGENCY STOP

TPIN[249]

ON/OFF switch

TPIN[247]

Right DEADMAN switch

TPIN[248]

Left DEADMAN switch

Arrow Keys

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14. INPUT/OUTPUT SYSTEM

MARRC75KR07091E Rev D

Table

14-5.

Teach Pendant Input Signal Assignments (Cont’d)

TPIN[n]

Teach Pendant Key

TPIN[212]

Up arrow

TPIN[213]

Down arrow

TPIN[208]

Right arrow

TPIN[209]

Left arrow

TPIN[0]

Left and/or right shift

TPIN[204]

Shifted Up arrow

TPIN[205]

Shifted Down arrow

TPIN[206]

Shifted Right arrow

TPIN[207]

Shifted Left arrow

Keypad Keys (shifted or unshifted)

TPIN[13]

ENTER

TPIN[8]

BACK SPACE

TPIN[48]

TPIN[49]

TPIN[50]

TPIN[51]

TPIN[52]

TPIN[53]

TPIN[54]

TPIN[55]

TPIN[56]

TPIN[57]

Function Keys

TPIN[128]

TPIN[129]

TPIN[131]

TPIN[132]

TPIN[133]

TPIN[134]

TPIN[135]

TPIN[136]

Shifted PREV

TPIN[137]

Shifted F1

TPIN[138]

Shifted F2

TPIN[139]

Shifted F3

TPIN[140]

Shifted F4

TPIN[141]

Shifted F5

TPIN[142]

Shifted NEXT

Menu Keys

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14. INPUT/OUTPUT SYSTEM

Table

14-5.

Teach Pendant Input Signal Assignments (Cont’d)

TPIN[n]

Teach Pendant Key

TPIN[143]

SELECT

TPIN[144]

TPIN[145]

EDIT

TPIN[146]

DATA

TPIN[147]

FCTN

TPIN[148]

ITEM

TPIN[149]

TPIN[150]

TPIN[151]

HOLD

TPIN[152]

STEP

TPIN[153]

RESET

TPIN[240]

DISP

TPIN[203]

HELP

TPIN[154]

Shifted ITEM

TPIN[155]

Shifted +%

TPIN[156]

Shifted -%

TPIN[157]

Shifted STEP

TPIN[158]

Shifted HOLD

TPIN[159]

Shifted RESET

TPIN[227]

Shifted DISP

TPIN[239]

Shifted HELP

User Function Keys

TPIN[173]

USER KEY 1

TPIN[174]

USER KEY 2

TPIN[175]

USER KEY 3

TPIN[176]

USER KEY 4

TPIN[177]

USER KEY 5

TPIN[178]

USER KEY 6

TPIN[210]

USER KEY 7

TPIN[179]

Shifted USER KEY

TPIN[180]

Shifted USER KEY

TPIN[181]

Shifted USER KEY

TPIN[182]

Shifted USER KEY

TPIN[183]

Shifted USER KEY

TPIN[184]

Shifted USER KEY

TPIN[211]

Shifted USER KEY

Motion Keys

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Table

14-5.

Teach Pendant Input Signal Assignments (Cont’d)

TPIN[n]

Teach Pendant Key

TPIN[185]

FWD

TPIN[186]

BWD

TPIN[187]

COORD

TPIN[28]

GROUP

TPIN[188]

TPIN[189]

TPIN[190]

TPIN[191]

+X rotation

TPIN[192]

+Y rotation

TPIN[193]

+Z rotation

TPIN[12290]

+J7

TPIN[12294]

+J8

TPIN[194]

-X

TPIN[195]

-Y

TPIN[196]

-Z

TPIN[197]

-X rotation

TPIN[198]

-Y rotation

TPIN[199]

-Z rotation

TPIN[12292]

-J7

TPIN[12296]

-J8

TPIN[226]

Shifted FWD

TPIN[207]

Shifted BWD

TPIN[202]

Shifted COORD

Motion Keys Cont’d

TPIN[214]

Shifted +X

TPIN[215]

Shifted +Y

TPIN[216]

Shifted +Z

TPIN[217]

Shifted +X rotation

TPIN[218]

Shifted +Y rotation

TPIN[219]

Shifted +Z rotation

TPIN[12291]

Shifted +J7

TPIN[12295]

Shifted +J8

TPIN[220]

Shifted -X

TPIN[221]

Shifted -Y

TPIN[222]

Shifted -Z

TPIN[223]

Shifted -X rotation

TPIN[224]

Shifted -Y rotation

TPIN[225]

Shifted -Z rotation

TPIN[12293]

Shifted -J7

TPIN[12297]

Shifted -J8

i Keys

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14. INPUT/OUTPUT SYSTEM

Table

14-5.

Teach Pendant Input Signal Assignments (Cont’d)

TPIN[n]

Teach Pendant Key

TPIN[12288]

key

TPIN[12298]

MENU, Top Menu

TPIN[12299]

SELECT, 4D Select Node Map

TPIN[12300]

EDIT, 4D Position Register

TPIN[12301]

DATA, 4D Edit Node Map

TPIN[12302]

FCTN, Related Views

TPIN[12303]

STEP

TPIN[12304]

COORD

TPIN[12305]

GROUP

TPIN[12306]

TPIN[12307]

TPIN[12308]

Up arrow

TPIN[12309]

Down arrow

TPIN[12310]

Right arrow

TPIN[12311]

Left arrow

TPIN[12312]

DISP, Focus window

TPIN[12313]

HELP

TPIN[12338]

USER KEY 7, 4D Display

TPIN[12339]

USER KEY 6

TPIN[12340]

USER KEY 5

TPIN[12341]

ENTER, space

i Keys Cont’d

TPIN[12314]

TPIN[12315]

TPIN[12316]

TPIN[12317]

+X rotation

TPIN[12318]

+Y rotation

TPIN[12319]

+Z rotation

TPIN[12320]

+J7 rotation

TPIN[12321]

+J8 rotation

TPIN[12322]

-X

TPIN[12323]

-Y

TPIN[12324]

-Z

TPIN[12325]

-X rotation

TPIN[12326]

-Y rotation

TPIN[12327]

-Z rotation

TPIN[12328]

-J7 rotation

TPIN[12329]

-J8 rotation

Three teach pendant output signals are available for use:

• TPOUT[6] - controls teach pendant USER LED #1

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• TPOUT[7] - controls teach pendant USER LED #2

• TPOUT[8] - controls teach pendant USER LED #3

14.3

Serial Input/Output

14.3.1

Serial Input/Output

The serial I/O system allows you to communicate with peripheral serial devices connected to

the KAREL system. For example, you could use serial I/O to write messages from one of the

communications ports to a remote terminal across a cable that connects to the controller.

To use serial I/O you must provide a serial device and the appropriate cable. Refer to the Maintenance

Manual, specific to your robot model, for electrical specifications.

The communications ports that you use to read and write serial data are defined in the system

software. Each software port is associated with physical connectors on the controller to which you

attach the communications cable.

Figure 14-4 shows the location of the ports on the controller.

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14. INPUT/OUTPUT SYSTEM

Figure 14-4. Location of Ports on the Controller

MAIN

(SLOT 1)

CP8B

P3/P4

ETHERNET

CD38A

L/RX

CD38B

L/RX

ALARM

STATUS

CA69A

JRL6

FSSB

C0P10A

CRS26

Ports

Setting up a port means initializing controller serial ports to use specific devices, such as the CRT/KB.

Initializing ports involves setting up specific information for a port based on the kind of device that

will connect to the port. This is done on the teach pendant PORT INIT screen.

The controller supports up to four serial ports. Several different kinds of devices can be connected to

these ports.

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Up to four ports are available, P1-P4. Table 14-6 lists the ports. You can set up ports P2 through P4 if

you have them, but you cannot set up the teach pendant port, P1.

Table 14-6. Ports P1 - P4

Port

Item Name on Screen

Kind of Port

Use

Default Device

JRS16 RS-232-C

RS-232-C

Any device

Maintenance Console

JD17 RS-232-C on Main CPU card

RS-232-C

KCL

JD17 on Main CPU card. This port

RS-422

No use

is displayed on the teach pendant if

$RS232_NPORT=4.

Devices

You can modify the default communications settings for each port except port 1, which is dedicated

to the teach pendant (TP). Table 14-7 lists the default settings for each kind of device you can

connect to a port.

Table 14-7. Default Communications Settings for Devices

Timeout Value

Device

Speed (baud)

Parity Bit

Stop Bit

(sec)

Sensor*

4800

Odd

1 bit

Host Comm.*

4800

Odd

1 bit

KCL/CRT

9600

None

1 bit

Maintenance Console

9600

None

1 bit

Factory Terminal

9600

None

1 bit

TP Demo Device

9600

None

1 bit

No Use

9600

None

1 bit

Current Position (for

9600

None

1 bit

use with the Current

Position option)

PMC Programmer

9600

None

2 bit

Modem/PPP

Refer to the FANUC Robotics Internet Options Setup and Operations Manual for information on the

supported modems.

HMI Device

19200

Odd

1 bit

*You can adjust these settings; however, if you do, they might not function as intended because they

are connected to an external device.

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MARRC75KR07091E Rev D

14. INPUT/OUTPUT SYSTEM

After the hardware has been connected and the appropriate port is configured and the external

port is connected, you can use KAREL language OPEN FILE, READ, and WRITE statements to

communicate with the peripheral device.

Higher levels of communication protocol are supported as an optional feature.

See Also: Appendix A for more information on the statements and built-ins available in KAREL

Refer to the application-specific FANUC Robotics Setup and Operations Manual for more information

about setting up ports.

14-25

Chapter 15

MULTI-TASKING

Contents

Chapter 15

MULTI-TASKING

15-1

15.1

MULTI-TASKING TERMINOLOGY

15-2

15.2

INTERPRETER ASSIGNMENT

15-3

15.3

MOTION CONTROL

15-3

15.4

TASK SCHEDULING

15-4

15.4.1

Priority Scheduling

15-5

15.4.2

Time Slicing

15-6

15.5

STARTING TASKS

15-6

15.5.1

Running Programs from the User Operator Panel (UOP) PNS

Signal

15-7

15.5.2

Child Tasks

15-7

15.6

TASK CONTROL AND MONITORING

15-7

15.6.1

From TPP Programs

15-8

15.6.2

From KAREL Programs

15-8

15.6.3

From KCL

15-8

15.7

USING SEMAPHORES AND TASK SYNCHRONIZATION

15-9

15.8

USING QUEUES FOR TASK COMMUNICATIONS

15-14

15-1

15. MULTI-TASKING

MARRC75KR07091E Rev D

Multi-tasking allows more than one program to run on the controller on a time-sharing basis, so that

multiple programs appear to run simultaneously.

Multi-tasking is especially useful when you are executing several sequences of operations which

can generally operate independently of one another, even though there is some interaction between

them. For example:

• A process of monitoring input signals and setting output signals.

• A process of generating and transmitting log information to a cell controller and receiving

commands or other input data from a cell controller.

It is important to be aware that although multiple tasks seem to operate at the same time, they are

sharing use of the same processor, so that at any instant only one task is really being executed. With

the exception of interruptible statements, once execution of a statement is started, it must complete

before statements from another task can be executed. The following statements are interruptible:

• READ

• DELAY

• WAIT

• WAIT FOR

Refer to Section 15.4 , “Task Scheduling” for information on how the system decides which task

to execute first.

15.1

MULTI-TASKING TERMINOLOGY

The following terminology and expressions are used in this chapter.

• Task or User task

A task, or user task, is a user program that is running or paused. A task is executed by an

"interpreter." A task is created when the program is started and eliminated when the interpreter it

is assigned to, becomes assigned to another task.

• Interpreter

An interpreter is a system component that executes user programs. At a cold or controlled start,

($MAXNUMTASKS + 2) interpreters are created. These interpreters are capable of concurrently

executing tasks.

• Task name

Task name is the program name specified when the task is created. When you create a task,

specify the name of the program to be executed as the task name.

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15. MULTI-TASKING

Note The task name does not change once the task is created. Therefore, when an external routine

is executing, the current executing program name is not the same as the task name. When you

send any requests to the task, use the task name, not the current program name.

• Motion control

Motion control is defined by a bit mask that specifies the motion groups of which a task has

control. Only one task at a time can control a motion group. However, different tasks can

control different motion groups simultaneously. Refer to Section 15.3 , “Motion Control,” for

more information.

15.2

INTERPRETER ASSIGNMENT

When a task is started, it is assigned to an interpreter. The interpreter it is assigned to (1, 2, 3, ...)

determines its task number. The task number is used in PAUSE PROGRAM, ABORT PROGRAM

and CONTINUE PROGRAM condition handler actions. The task number for a task can be determined

using the GET_TSK_INFO built-in.

The following are rules for assigning a task to an interpreter:

• If the task is already assigned to an interpreter, it uses the same interpreter.

• A task is assigned to the first available interpreter that currently has no tasks assigned to it.

• If all interpreters are assigned to tasks, a new task will be assigned to the first interpreter that

has an aborted task.

• If none of the above can be done, the task cannot be started.

15.3

MOTION CONTROL

An important restriction in multi-tasking is in the control of the various motion groups. Only one

task can have control, or use of, a group of axes. A task requires control of the group(s) in the

following situations:

• When the task starts, if the controller directive %NOLOCKGROUP is not used. If the

%LOCKGROUP directive is not used, the task requires control of all groups by default. If

%LOCKGROUP is used, control of the specified groups is required.

For teach pendant programs, motion control is required when the program starts, unless the

DETAIL page from the SELECT screen is used to set the Group Mask to [*,*,*,*,*].

• When a task executes the LOCK_GROUP built-in, it requires the groups specified by the group

mask.

15-3

15. MULTI-TASKING

MARRC75KR07091E Rev D

• When a task calls a ROUTINE or teach pendant program, it requires control of those group(s).

The group(s) required by a ROUTINE or TPP+ program are those specified, or implied, by

controller directives or in the teach pendant DETAIL setup.

A task will be given control of the required group(s), assuming:

• No other task has control of the group.

• The teach pendant is not enabled, with the exception that motion control can be given to a program

when it is started using shift-FWD at the teach pendant or if it has the %TPMOTION directive.

• There are no emergency stops active.

• The servos are ready.

• The UOP signal IMSTP is not asserted.

A task will be paused if it is not able to get control of the required group(s).

After a task gets control of a group, it keeps it until one of the following:

• The task ends (aborts).

• The task executes the UNLOCK_GROUP built-in.

• The task passes control of the group(s) in a RUN_TASK built-in.

• The ROUTINE or teach pendant program returns, and groups were required by a ROUTINE or

teach pendant program, but not by the calling program.

15.4

TASK SCHEDULING

A task that is currently running (not aborted or paused) will execute statements until one of the

following:

• A hold condition occurs.

• A higher priority program becomes ready to run.

• The task time slice expires.

• The program aborts or pauses.

The following are examples of hold conditions:

• Waiting for a read operation to complete.

• Waiting for a motion to complete.

• Waiting for a WAIT, WAIT FOR, or DELAY statement to complete.

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15. MULTI-TASKING

A task is ready to run when it is in running state and has no hold conditions. Only one task is

actually executed at a time. There are two rules for determining which task will be executed when

more than one task is ready to run:

• Priority - If two or more tasks of different priority are ready to run, the task with higher priority is

executed first. Refer to Section 15.4.1 , “Priority Scheduling,” for more information.

• Time-slicing - If two tasks of the same priority are ready to run, execution of the tasks is

time-sliced. Refer to Section 15.4.2 , “Time Slicing,” for more information.

15.4.1

Priority Scheduling

If two or more tasks with different priorities are ready to run, the task with the highest priority will run

first. The priority of a task is determined by its priority number. Priority numbers must be in the range

from -8 to 143. The lower the priority number, the higher the task priority.

For example: if TASK_A has a priority number of 50 and TASK_B has a priority number of 60, and

both are ready to run, TASK_A will execute first, as long as it is ready to run.

A task priority can be set in one of the following ways:

• By default, each user task is assigned a priority of 50.

• KAREL programs may contain the %PRIORITY translator directive.

• The SET_TSK_ATTR built-in can be used to set the current priority of any task.

In addition to affecting other user tasks, task priority also affects the priority of the interpreter

executing it, relative to that of other system functions. If the user task has a higher priority (lower

priority number) than the system function, as long as the user task is ready to run, the system function

will be not be executed. The range of user task priorities is restricted at the high priority end. This is

done so that the user program cannot interfere with motion interpolation. Motion interpolation refers

to the updates required to cause a motion to complete.

The following table indicates the priority of some other system functions.

Table

15-1.

System Function Priority Table

Priority

System Function

Effect of Delaying Function

-8

Maximum priority

New motions delayed.

-1

Motion Planner

New motions delayed.

TP Jog

Jogging from the Teach Pendant delayed.

Error Logger

Update of system error log delayed.

KCL

Execution of KCL commands delayed.

15-5

15. MULTI-TASKING

MARRC75KR07091E Rev D

Table 15-1. System Function Priority Table (Cont’d)

Priority

System Function

Effect of Delaying Function

CRT manager

Processing of CRT soft-keys delayed.

TP manager

General teach pendant activity delayed.

143

Lowest priority

Does not delay any of the above.

15.4.2

Time Slicing

If two or more tasks of the same priority are ready to run, they will share the system resources by

time-slicing, or alternating use of the system.

A time-slice permits other tasks of the same priority to execute, but not lower priority tasks.

The default time-slice for a task is 256 msec. Other values can be set using the %TIMESLICE

directive or the SET_TSK_ATTR built-in.

15.5

STARTING TASKS

There are a number ways to start a task.

• KCL RUN command. Refer to Appendix C ,“KCL Command Alphabetic Descriptions.”

• Operator Panel start key. Refer to the appropriate application- specific FANUC Robotics Setup

and Operations Manual.

• User operator panel start signal. Refer to the appropriate application-specific FANUC Robotics

Setup and Operations Manual.

• User operator panel PNS signal. Refer to Section 15.5.1 ,“Running Programs from the User

Operator Panel (UOP) PNS Signal,” for more information.

• Teach pendant shift-FWD key. Refer to the appropriate application-specific FANUC Robotics

Setup and Operations Manual , Chapter on “Testing a Program and Running Production,” for

more information.

• Teach pendant program executes a RUN instruction. Refer to Section 15.5.2 , “Child Tasks,”

for more information.

• KAREL program executes the RUN_TASK built-in. Refer to Section 15.5.2 , “Child Tasks,”

for more information.

In each case, the task will not start running if it requires motion control that is not available.

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15. MULTI-TASKING

15.5.1

Running Programs from the User Operator Panel (UOP) PNS Signal

A program is executed:

• If the binary value of the UOP PNS signals is non-zero and the UOP PROGSTART signal

is asserted

• If there is currently a program with the name “PNSnnnn,” where nnnn is the decimal value of the

PNS signals plus the current value of $SHELLCFG.$jobbase.

A program is not executed:

• If the binary value of the PNS signals is zero.

Multiple programs can be started in this way, as long as there is no motion group overlap.

If the task name determined from the PNS is in a paused state, the PROGSTART signal is interpreted

as a CONTINUE signal. If $SHELLCFG.$contonly is TRUE, this is the only function of the

PNS/PROGSTART signals.

If $SHELLCFG.$useabort is TRUE, the PNS signals can be used to abort a running task. The name of

the task to be aborted is the same as that used with the PROGSTART signal. In this case, abort is

triggered by the UOP CSTOPI signal

15.5.2

Child Tasks

A running task can create new tasks. This new task is called a child task. The task requesting creation

of the child task is called the parent task. In teach pendant programs, a new task is created by executing

a RUN instruction. In KAREL programs a new task can be created using the RUN_TASK built-in.

The parent and child task may not require the same motion group. In the case of RUN_TASK,

however, it is possible to release control of motion groups for use by the child task.

Once a child task is created, it runs independently of its parent task, with the following exception:

• If a parent task is continued and its child task is paused, the child task is also continued.

• If a parent task is put in STEP mode, the child task is also put in STEP mode.

If you want the child task to be completely independent of the parent, a KAREL program can initiate

another task using the KCL or KCL_NOWAIT built-ins to issue a KCL>RUN command.

15.6

TASK CONTROL AND MONITORING

There are three environments from which you can control and monitor tasks:

15-7

15. MULTI-TASKING

MARRC75KR07091E Rev D

1. Teach Pendant Programs (TPP) - Section 15.6.1

2. KAREL Programs - Section 15.6.2

3. KCL commands - Section 15.6.3

15.6.1

From TPP Programs

The TPP instruction RESUME_PROG can be used to continue a PAUSEd task.

15.6.2

From KAREL Programs

There are a number of built-ins used to control and monitor other tasks. See the description of these

built-ins in Appendix A .

• RUN_TASK executes a task.

• CONT_TASK resumes execution of a PAUSEd task.

• PAUSE_TASK pauses a task.

• ABORT_TASK aborts a task.

• CONTINUE condition handler action causes execution of a task.

• ABORT condition handler action causes a task to be aborted.

• PAUSE condition handler action causes a task to be paused.

• GET_TSK_INFO determines whether a specified task is running, paused, or aborted. Also

determines what program and line number is being executed, and what, if anything, the task

is waiting for.

15.6.3

From KCL

The following KCL commands can be used to control and monitor the status of tasks. Refer to

Appendix C , "KCL Command Alphabetic Descriptions,” for more information.

• RUN <task_name> starts or continues a task.

• CONT <task_name> continues a task.

• PAUSE <task_name> pauses a task.

• ABORT <task_name> aborts a task.

• SHOW TASK <task_name> displays the status of a task.

• SHOW TASKS displays the status of all tasks.

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15. MULTI-TASKING

15.7

USING SEMAPHORES AND TASK SYNCHRONIZATION

Good design dictates that separate tasks be able to operate somewhat independently. However, they

should also be able to interact.

The KAREL controller supports counting semaphores. The following operations are permitted on

semaphores:

•

Clear a semaphore (KAREL: CLEAR_SEMA built-in): sets the semaphore count to zero.

All semaphores are cleared at cold start. It is good practice to clear a semaphore prior to using

it. Before several tasks begin sharing a semaphore, one and only one of these task, should clear

the semaphore.

•

Post to a semaphore (KAREL: POST_SEMA built-in): adds one to the semaphore count.

If the semaphore count is zero or greater, when the post semaphore is issued, the semaphore

count will be incremented by one. The next task waiting on the semaphore will decrement the

semaphore count and continue execution. Refer to Figure 15-1 .

If the semaphore count is negative, when the post semaphore is issued, the semaphore count will

be incremented by one. The task which has been waiting on the semaphore the longest will then

continue execution. Refer to Figure 15-1 .

•

Read a semaphore (KAREL: SEMA_COUNT built-in): returns the current semaphore count.

•

Wait for a semaphore (KAREL: PEND_SEMA built-in, SIGNAL SEMAPHORE Action):

If the semaphore count is greater than zero when the wait semaphore is issued, the semaphore

count will be decremented and the task will continue execution. Refer to Figure 15-1 .

If the semaphore count is less than or equal to zero (negative), the wait semaphore will decrement

the semaphore count and the task will wait to be released by a post semaphore. Tasks are released

on a first-in/first-out basis. For example, if task A waits on semaphore 1, then task B waits on

semaphore 1. When task D posts semaphore 1, only task A will be released. Refer to Figure 15-1 .

15-9

15. MULTI-TASKING

MARRC75KR07091E Rev D

Figure 15-1. Task Synchronization Using a Semaphore

Task

W - Wait Semaphore

Task executing

T0 - semaphore count = indeterminate

P - Post Semaphore

Task waiting

T1 - semaphore count = 0

C - Clear Semaphore

T2 - semaphore count =

T3 - semaphore count =

T4 - semaphore count =

T5 - semaphore count = 0

T6 - semaphore count = 1

T7 - semaphore count = 0

Example: Semaphores can be used to implement a task that acts as a request server. In the

following example, the main task waits for the server to complete its operation. Semaphore[4]

is used to control access to rqst_param or R[5]. Semaphore[5] is used to signal the server task

that service is being requested; semaphore[6] is used by the server to signal that the operation is

complete.

The main task would contain the following KAREL:

Main Task

--KAREL

CLEAR_SEMA(4)

CLEAR_SEMA(5)

CLEAR_SEMA(6)

RUN TASK(‘server’,0,TRUE,TRUE,1,STATUS)

PEND_SEMA(4,max_time,time_out)

rqst_param=10

POST_SEMA(5)

PEND_SEMA(6,max_time,time_out)

The server task would contain the following KAREL code:

15-10

FANUC Robotics SYSTEM R-30iA and R-30iB Controller. KAREL Reference Manual - page 10