I have no idea what this "auto_back_home" routine is or does. That being said, the behavior it sounds like you are describing would be known as "path regain". When the e-stop is pressed, the brakes engage immediately. This is a rough, hard stop. The robot deviates from the path. So, when it resumes, the first thing that it will do is regain the planned path if it is within what is known as the "regain distance". There is a system parameter that can be changed for the regain distance. However, that will not help you to achieve what you are asking. If the robot is outside of the regain distance you will get a "restart not possible" error.
Posts by Lemster68
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Have you checked the oil level in the gearbox? Skooter could there be an issue with the parallel arm linkage?
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The ones that I remember are Queue time and prefetch time. Read about them in the system parameter manual under the motion planner.
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It already does read ahead. If there are things that make the robot wait like a WaitTime or WaitDI instructions, and fine points prevent further read ahead. There are some system parameters which could be changed to increase the read ahead, but that is not recommended.
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A good question is: why does it not come with its controller. One is useless without the other. Can you inquire about getting the controller that belongs with it?
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Yeah, pretty much. I might use a FOR NEXT loop or maybe even a WHILE DO. ABB has a lot of possibilities.
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OK, very well. Teach the primary points that you need and then you could do something like offset eact go round of the shift by the step distance you need until you get to the end of the lobe. Make a jump to the next lobe and repeat. You could use either the track position or the X or Y values of the taught points. The latter could be done by using the OffSet function.
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Unless it is a coordinated external axis, your chances are not too good. Check out this system at the beginning of the video, it does exactly what you are describing.
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Do you really want to answer questions from the authorities in your state/country if someone gets hurt or killed as a result of this action?
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An interrupt input won't do anything without the corresponding trap routine and instructions to CONNECT an interrupt to that trap.
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Are you not set up to use the path segments? From what I can recall that would set the outputs for where the robot is.
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I think that I finally understand what you are describing. The motor tilts the cup forward and back, not round and round. I don't think that you can do what you are asking. However, you can define as many tcp's as you want and use the appropriate one in your move instructions.
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Update to 5.16. It is free.
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As far as the variables go, make them persistent and they will retain their values. Outputs can be defined to retain their value when shut down. Read up on that in the system parameter manual.
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When you say there is nothing in the logs can you confirm that you looked at all other logs? System, program, hardware and any others that might show cause of a stop.
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Pay particular attention to the workobject data section of the manual. The rotary axis can be set to move the workobject.
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Check the cable and the connector.
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Here is the EDS for that card:
$ DeviceNet DeviceLink Adapter
$
$ Description: The following file is the EDS for the ABB Robotics
$ DeviceNet DSQC-652 Module
$
[File]
DescText = "DQSC-652 EDS File";
CreateDate = 04-19-2006;
CreateTime = 15:00:00;
ModDate = 06-22-2010;
ModTime = 12:00:00;
Revision = 0.2;
[Device]
VendCode = 75; $ Vendor Code
VendName = "ABB Robotics";
ProdType = 7; $ Product Type
ProdTypeStr = "Discrete I/O";
ProdCode = 26; $ Product Code
MajRev = 1; $ Major Rev
MinRev = 1; $ Minor Rev
ProdName = "16 IN / 16 OUT 24Vdc Discrete Module";
[Device Classification]
Class1 = DeviceNet;
[IO_Info]
Default = 0x0001; $ Bit 0 = Poll, Bit 1 = Strobe, Bit 2 = CoS
$ Bit 3 = Cyclic, Bit 4 = Multicast Poll
PollInfo = 0x000D, $ Poll, CoS / Cyclic
1, $ Default input = Input 1
1; $ Default output = Output 1
COSInfo = 0x0005, $ Poll, CoS / Cyclic
1, $ Default input = Input 1
1; $ Default output = Output 1
CyclicInfo = 0x0009, $ Poll, CoS / Cyclic
1, $ Default input = Input 1
1; $ Default output = Output 1
$ --- Input connections ---
Input1 = 2, $ Nbr of data byte
0, $ All bits used
0x000D, $ Poll, CoS / Cyclic
"Input Data",
6, $ Nbr of bytes used to represent the path
"20 04 24 64 30 03",
$ Connection path
$ 0x20 = Class, 0x04 = Class - Assembly Object
$ 0x24 = Instance, 0x64 = Instance - Vendor Specific
$ 0x30 = Attribute, 0x03 = Attribute - Data
"The bits in the two bytes corresponds to input 1-16. \n"
"LSB in the first byte corresponds to input 1 and \n"
"MSB in the second byte to input 16. \n"
"A '1' corrsponds to a high input and a '0' to a low input"; $ Help string
$ --- Output connections ---
Output1 = 2, $ Nbr of data byte
0, $ All bits used
0x000D, $ Poll, CoS / Cyclic
"Output Data",
6, $ Nbr of bytes used to represent the path
"20 04 24 65 30 03",
$ Connection path
$ 0x20 = Class, 0x04 = Class - Assembly Object
$ 0x24 = Instance, 0x65 = Instance - Vendor Specific
$ 0x30 = Attribute, 0x03 = Attribute - Data
"The bits in the two bytes corresponds to output 1-16. \n"
"LSB in the first byte corresponds to output 1 and \n"
"MSB in the second byte to output 16. A '1' \n"
"corrsponds to a high output and a '0' to a low output"; $ Help string
[ParamClass]
MaxInst = 70; $ Nbr of configuration parameters: [Params]-Param X
Descriptor = 1; $ Supports Parameter Instances
CfgAssembly = 0; $ ?
[Params]
Param1 = $ Discrete Input Point Object - Revision
0, $ Data Placeholder
6, "20 08 24 00 30 01", $ Path size and Path to Operate Mode Attribute
0x10, $ Descriptor - Read only
0xC7, 2, $ Data Type and Size - U16
"Revision", $ Name
"", $ Units
"Revision for Input Point Object",
0,65535,2, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param2 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 01 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 1",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param3 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 02 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 2",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param4 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 03 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 3",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param5 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 04 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 4",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param6 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 05 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 5",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param7 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 06 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 6",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param8 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 07 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 7",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param9 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 08 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 8",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param10 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 09 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 9",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param11 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0A 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 10",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param12 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0B 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 11",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param13 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0C 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 12",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param14 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0D 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 13",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param15 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0E 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 14",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param16 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 0F 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 15",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param17 = $ Discrete Input Point Object - Value
0, $ Data Placeholder
6, "20 08 24 10 30 03", $ Path size and Path to Operate Mode Attribute
0x32, $ Descriptor - Value is updated in real time,
$ Read only, Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Input point value - Input 16",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param18 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 01 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 1",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param19 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 02 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 2",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param20 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 03 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 3",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param21 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 04 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 4",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param22 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 05 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 5",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param23 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 06 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 6",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param24 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 07 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 7",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param25 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 08 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 8",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param26 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 09 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 9",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param27 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0A 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 10",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param28 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0B 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 11",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param29 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0C 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 12",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param30 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0D 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 13",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param31 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0E 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 14",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param32 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 0F 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 15",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param33 = $ Discrete Input Point Object - Off-On delay
0, $ Data Placeholder
6, "20 08 24 10 30 05", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 65,535 us) - Input 16",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param34 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 01 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 1",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param35 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 02 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 2",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param36 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 03 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 3",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param37 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 04 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 4",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param38 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 05 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 5",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param39 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 06 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 6",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param40 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 07 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 7",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param41 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 08 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 8",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param42 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 09 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 9",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param43 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0A 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 10",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param44 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0B 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 11",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param45 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0C 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 12",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param46 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0D 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 13",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param47 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0E 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 14",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param48 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 0F 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 15",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param49 = $ Discrete Input Point Object - On-Off delay
0, $ Data Placeholder
6, "20 08 24 10 30 06", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC7, 2, $ Data Type and Size - U16
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 65,535 us) - Input 16",
0,65535,5000, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param50 = $ Discrete Input Group Object - Off-On delay
0, $ Data Placeholder
6, "20 1D 24 01 30 64", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC6, 1, $ Data Type and Size - U8
"Off_On delay", $ Name
"", $ Units
"Filter time for Off to On transition (0 - 255 ms) - Input 1-16",
0,255,5, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param51 = $ Discrete Input Group Object - On-Off delay
0, $ Data Placeholder
6, "20 1D 24 01 30 65", $ Path size and Path to Operate Mode Attribute
0x00, $ Descriptor -
0xC6, 1, $ Data Type and Size - U8
"On_Off delay", $ Name
"", $ Units
"Filter time for On to Off transition (0 - 255 ms) - Input 1-16",
0,255,5, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param52 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 01 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 1",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param53 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 02 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 2",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param54 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 03 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 3",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param55 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 04 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 4",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param56 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 05 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 5",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param57 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 06 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 6",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param58 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 07 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 7",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param59 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 08 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 8",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param60 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 09 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 9",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param61 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0A 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 10",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param62 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0B 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 11",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param63 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0C 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 12",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param64 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0D 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 13",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param65 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0E 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 14",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param66 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 0F 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 15",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param67 = $ Discrete Output Point Object - Value
0, $ Data Placeholder
6, "20 09 24 10 30 03", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Value", $ Name
"", $ Units
"Output Point Value - Output 16",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param68 = $ Discrete Output Group Object - Command
0, $ Data Placeholder
6, "20 1E 24 01 30 06", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Bool
"Command", $ Name
"", $ Units
"Change state of all DOPs in group to Idle mode or Run Mode\n"
" (0 = Idle, 1 = Run)",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param69 = $ Discrete Output Group Object - Fault State
0, $ Data Placeholder
6, "20 1E 24 01 30 07", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Boolean
"Fault State", $ Name
"", $ Units
"State of output after recoverable failure (0 = Off, 1 = Hold last state)",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
Param70 = $ Discrete Output Group Object - Idle State
0, $ Data Placeholder
6, "20 1E 24 01 30 09", $ Path size and Path to Operate Mode Attribute
0x02, $ Descriptor - Enumerated strings
0xC1, 1, $ Data Type and Size - Boolean
"Idle State", $ Name
"", $ Units
"State of output during idle (0 = Off, 1 = Hold last state)",
0,1,0, $ Min, Max, Default value
1,1,1,0, $ Mult, Div, Base, Offset scaling
,,,, $ Mult, Div, Base, Offset links (Not Used)
0; $ Decimal places
[EnumPar] $ One string for each integral value from Min to Max
Param2 = "Off", "On";
Param3 = "Off", "On";
Param4 = "Off", "On";
Param5 = "Off", "On";
Param6 = "Off", "On";
Param7 = "Off", "On";
Param8 = "Off", "On";
Param9 = "Off", "On";
Param10 = "Off", "On";
Param11 = "Off", "On";
Param12 = "Off", "On";
Param13 = "Off", "On";
Param14 = "Off", "On";
Param15 = "Off", "On";
Param16 = "Off", "On";
Param17 = "Off", "On";
Param52 = "Off", "On";
Param53 = "Off", "On";
Param54 = "Off", "On";
Param55 = "Off", "On";
Param56 = "Off", "On";
Param57 = "Off", "On";
Param58 = "Off", "On";
Param59 = "Off", "On";
Param60 = "Off", "On";
Param61 = "Off", "On";
Param62 = "Off", "On";
Param63 = "Off", "On";
Param64 = "Off", "On";
Param65 = "Off", "On";
Param66 = "Off", "On";
Param67 = "Off", "On";
Param68 = "Idle", "Run";
Param69 = "Off", "Hold last value";
Param70 = "Off", "Hold last value";
[Groups] $ Group name, Number of members, Members
Group1 = "Discrete Input Point Parameters", 49, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49;
Group2 = "Discrete Input Group Parameters", 2, 50, 51;
Group3 = "Discrete Output Point Parameters", 16, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67;
Group4 = "Discrete Output Group Parameters", 3, 68, 69, 70;
-
So you have the option. Also, the CAN2 bus would be for external communication, like with a PLC. Connect it to the internal CAN connector.