I've had this response from Staubli re the Digital IO:
You should create a dio variable in you VAL3 application.
That variable then needs to be linked to a real physical IO before it can be used.
This can be done from the interface on the pendant (application manager – application – global data –dio) or from SRS or using the command dioLink.
This variable can then be set to true of false from a program if linked to an output.
Does RoboDk already to that as part of the programme build?
The Staubli VAL3 post processor automatically creates an array of data to manage digital outputs when you use the set digital output instruction.
If the post processor doesn't generate what you need it would be best if you indicate what changes you need to make and we'll update the post accordingly.
06-30-2020, 06:04 PM (This post was last modified: 06-30-2020, 06:06 PM by jonathan.hancock.)
Hi Albert / Jeremy
I have made some progress - I can get the Outputs to switch (they needed to be mapped within the CS8 controller before being used), but they don't operate in the way I expected.
When running the attached program on the controller, it switches outputs 0-3 on and off with a 0.5 second delay in between switching, then moves the arm through the sequence with no other control of the Outputs.
I was expecting the Outputs to switch, move the arm, wait for 0.5seconds, switch the Outputs, move, wait again, switch the Outputs etc.
Do I need to add a 'wait for move to finish' command before the IO command perhaps?