Analog IOs¶

Important

drag&bot supports all the soft digital and analog IOs of the KRC4/KRC5 Controller. The user may require to map these soft IOs with a real IOs using the KUKA WorkVisual 6.0 e.g. for using Fieldbus. For more information about it please check the official KUKA WorkVisual website and the official KUKA WorkVisual 6.0 manual V5, paragraph no. 9.4 Mapping the bus I/Os.
Please use the KUKA WorkVisual under your responsibility, drag and bot GmbH assumes no responsibility or liability for any possible damage or injury resulted from it.
For any further clarification related to KUKA WorkVisual errors/issues, please refer to the official manuals from KUKA or communicate with your KUKA official support team.

Prerequisites

drag&bot Controller driver Ver. 1.0 (released on 14.02.2020) or higher.

IOs numbering using drag&bot Function Blocks¶

drag&bot uses the same controller numbering for the Digital Inputs and Outputs, with the prefix DI for inputs and DO for outputs. For Analog Outputs the same numbering as for the controller is used, while the Analog Input numbering used in drag&bot is shifted by 10000. Please refer to the table below for more details.

IO type	Controller numbering	drag&bot numbering
Digital Outputs	1 to 4096	DO[1] to DO[4096]
Digital Inputs	1 to 4096	DI[1] to DI[4096]
Analog Outputs	1 to 32	1 to 32
Analog Inputs	1 to 32	10001 to 10032

To interact with the Digital I/Os using this numbering in your programs use the function blocks

Digital I/O Device - Get
Digital I/O Device - Set
Digital I/O Device - Wait For

as described in the Function Block Library overview.

To interact with the Analog I/Os using this numbering in your programs use the function blocks described below.

IOs numbering using drag&bot Control Panel¶

The drag&bot Control Panel currently has access to only the first 16 Inputs and Outputs of the controller. Refer to below tables for more details.

Controller Output number	drag&bot Control Panel number	Controller Input number	drag&bot Control Panel number
1	DO[1]	1	DI[1]
2	DO[2]	2	DI[2]
...	...	...	...
15	DO[15]	15	DI[15]
16	DO[16]	16	DI[16]

The rest of the Digital and Analog I/Os are accessible only through function blocks.

Analog IO Function Blocks¶

Analog I/O - Get¶

It requests the value of an analog I/O pin of the robot.

	Name	Data type	Description
Inputs	Pin number	Integer	Number of an analog I/O pin.

Outputs	Value	Float	The value of the analog I/O pin.
	success	Boolean	Whether the analog I/O was read successfully or not.
	error message	String	The error message in case of success = FALSE.

Analog I/O - Set¶

It sets the value of one of the analog output of the robot.

	Name	Data type	Description
Inputs	Pin number	Integer	Number of an analog output pin.
	Value	Float	Value of the analog output pin.

Outputs	success	Boolean	Whether the analog I/O was written successfully or not.
	error message	String	The error message in case of success = FALSE.

Analog I/O - Wait For¶

It pauses the program thread until the desired value is read on the given analog I/O pin. A timeout can be specified to throw an exception.

	Name	Data type	Description
Inputs	Pin number	Integer	Number of an analog I/O pin.
	Desired Value	Float	The value which has to be read on the analog I/O pin to continue program execution.
	tolerance	Float	Acceptable tolerance in the reading value following this mathematical formula : (desired value - tolerance) <= reading value <= (desired value + tolerance)
	Timeout	Float	Timeout in seconds to wait for the signal before a TIMEOUT exception is thrown. A value of zero waits infinitely.

Outputs	Value	Float	The value of the analog I/O pin.
	success	Boolean	Whether the analog I/O was read successfully or not.
	error message	String	The error message in case of success = FALSE.