Configuring an RIO Device in V+

In an Adept SmartModules system, you must configure the RIO I/O blocks so they are recognized by V+. You will use DC_SETUP.V2 to select the block number. Optionally, you will need to use CONFIG_C.V2 to assign the Input and Output signals, if you select any block other than 16 (described in the next section).

NOTE: Before configuring a RIO, the SmartModules system must be installed and the system software configured.

Selecting I/O Signal Blocks

  1. Run the DC_SETUP.V2 program, and select:

Configure RIO input/output blocks

Follow the instructions on the screen as you step through the program.

  1. Identify the SmartAmp with the LED flashing green and red. This should be the SmartAmp that the RIO is attached to. Press Enter when prompted.
  2. Enter a block number when prompted. If you select input block 16, these signals are automatically assigned for you:

You can use these signals without additional configuration.

If you choose an input or output block other than 16, you need to go to the next section to assign I/O signal numbers.

NOTE: For reference, the default configuration for block 16 is shown on See Default Configuration for Block 16.

Assigning I/O Signal Numbers

If you choose a block other than 16, then you will need to use the following procedure to assign I/O signals to specific blocks.

Input blocks and output blocks are numbered independently so you can use the same number for both an input and an output block. You must be sure that the block number you specify is not used for the same type of block in any other RIO or sDIO module in your system. You can check how block numbers are assigned by using the SRV.NET monitor command.

The I/O signal number ranges for a SmartController system are:

Procedure to Assign I/O Signal Numbers

  1. If you choose an input or output block other than 16, or if you want to use signals different from the defaults shown above for block 16, you must assign specific signals to the I/O blocks. Typically, robot tool control signals use blocks 1-15, and general digital I/O signals use blocks 16-31.

    Run the CONFIG_C.V2 program and select:

Edit system configuration

and then select:

Change DIGITAL_INPUT configuration

or

Change DIGITAL_OUTPUT configuration

  1. The program steps you through the process of adding a new statement to assign Input and Output signals to a block, and then to a byte (1 to 4) within a block. In a RIO, you must map the 12 input channels to bytes 1 and 2 of a specific block. The 8 output channels can be mapped to byte 1 of a specific block. See Example 1.

Example 1

The following example shows mapping SIGNAL 1033 to Input_Block 2 and Input_Byte 1.

Add a new statement (Y/N)? y
       1: POS_LATCH

       2: VIS_TRIGGER

       3: SIGNAL

Enter number of keyword for new statement: 3

SIGNAL            : Value = 1001 (min = 1001, max = 1505): 1033

/INPUT_BLOCK      : Value = 1 (min = 1, max = 31): 2

/INPUT_BYTE       : Value = 1 (min = 1, max = 4): 1

/IO_OPTIONAL      : Value = NO

                        1 > NO
                        2 > YES

                        Enter selection: 1

SIGNAL 1033 = "/INPUT_BLOCK 2/INPUT_BYTE 1 /IO_OPTIONAL NO"

  1. Once you have completed editing the Input and Output configurations in CONFIG_C.V2, save the edited file by exiting to system monitor.

  2. Reboot the controller to enable the changes.

Default Configuration for Block 16

By default, block 16 is configured so that Input signals 1033 to 1064 are assigned as follows. Notice the signal numbers are in groups of eight per byte.

SIGNAL 1033 = "/INPUT_BLOCK 16 /INPUT_BYTE 1 /IO_OPTIONAL YES"
SIGNAL 1041 = "/INPUT_BLOCK 16 /INPUT_BYTE 2 /IO_OPTIONAL YES"
SIGNAL 1049 = "/INPUT_BLOCK 16 /INPUT_BYTE 3 /IO_OPTIONAL YES"
SIGNAL 1057 = "/INPUT_BLOCK 16 /INPUT_BYTE 4 /IO_OPTIONAL YES"

Output signals 33 to 64 are assigned in a corresponding manner. See the description of the CONFIG_C.V2 program for more information on this topic.