Digital I/O

(Software)system version
Applicable to V02.031 and after

Third edition

NACHI-FUJIKOSHI Corp.
 CONTENTS
1 Introduction................................................................................................................... 1
1.1 Before using digital I/O function................................................................................ 1
1.2 Digital input speed control function........................................................................... 4
1.3 Digital speed proportion output function ................................................................... 4
1.4 Digital output function (M278)................................................................................... 5
2 Operation of input section ........................................................................................... 6
2.1 Digital input speed control [M277] ............................................................................ 6
2.2 Inputs assignment .................................................................................................... 8
3 Operation of output section ......................................................................................... 9
3.1 [Constants] menu ..................................................................................................... 9
3.2 Outputs assignment ............................................................................................... 10
3.3 Digital output address setting ................................................................................. 11
3.4 Digital speed proportion output............................................................................... 12
3.4.1 Speed digital setting ........................................................................................ 12
3.4.2 Formula setting................................................................................................ 14
3.5 Digital output function (M278)................................................................................. 16
3.6 Manual digital output (R278) .................................................................................. 17
4 Monitor ........................................................................................................................ 18
4.1 Digital I/O monitor .................................................................................................. 18
4.2 Built-in PLC ladder monitor .................................................................................... 19
5 Supplement ................................................................................................................. 20
5.1 Playback of M278 function ..................................................................................... 20
5.2 Robot stop while M278 is being executed .............................................................. 21
5.3 Robot stop during digital speed proportion output .................................................. 21
5.4 Digital input value................................................................................................... 21
5.5 When low speed playback command is ON ........................................................... 21
5.6 About the improvement of Pre-output time (AWV04.040.200 and after) ................. 21

(1)
TAWE-305-002
TAWE-305-001
 (2)
TAWE-305-001
 1 Introduction

1.1 Before using digital I/O function

Digital I/O function is to input or output digital data between AW controller and external devices.
Digital I/O function consists of [Digital input speed control function], [Digital speed proportion
output function] and [Digital output function (M278)]. For these functions, general- purpose I/O
signals (See note.) or data memory of AW controller is used. Consequently, it is necessary to
make setting of I/O signal assignment and data memory address for destinations (if needed) in
advance.

Note;
# AW I/O relays (6400~7915, 8000~9515 (each 256 points for each I/O)) are used for digital I/O
when built-in PLC function is used. In case of 512-point extension spec., 10000~11515
(inputs) and 15000~16515 (outputs) become usable also as AW I/O relays in addition to the
above.
# Refer to [AW Controller Operating Manual; Built-in PLC] for AW I/O relays and data memory.

Then make wiring to CNIN and CNOT connectors of AW controller’s I/O connector boards (such as
UM124, UM139, UM160 etc.) and execute input and output using general-purpose I/O signals.
Inputs and outputs are used as 1 port by putting multiple signals all together. Input data are 7 bits
(0~127) and output data 12 bits (0~4095).

A rough concept of operation is illustrated as a block diagram below.

[Block diagram of digital I/O function (A)]

(Built-in PLC function not used)

DC24V I/O
AW controller UM119

AW inputs Ext. inputs Digital

AW 6400 ~ 7915 0000 ~1515 inputs
CPU (10000 ~ 11515) I/O
Connector
AW outputs board
Ext. outputs Digital
8000 ~ 9515 1600 ~ 3115 outputs
(15000 ~ 16515)

(Caution)
Even though data memory address for digital output destination is set in the above diagram, data
memory cannot be used because sequence program of built-in PLC is not available. Built-in PLC
function (option) is required for using data memory as output.

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TAWE-305-001 1 Introduction
 [Block diagram of digital I/O function (B)]
(Example of built-in PLC function used)

AW controller
UM119

AW inputs
6400 ~ 7915
(10000 ~ 11515)
Ext. inputs Digital
AW 0000 ~1515 inputs
AW outputs
CPU I/O
8000 ~ 9515
Built-in PLC Connector
(15000 ~ 16515)
Sequence board
Ext. outputs
program
1600 ~ 3115
Digital
Outputs
Data memory
DM000 ~
DM511

With PLC function (option) disabled, external I/O relay is directly connected to AW I/O relay, but
with PLC function enabled it is necessary to create a program so that external I/O can be
connected to AW I/O relay.

The above dotted area can be replaced with network I/O option such as ME-NET or DeviceNet
function. In case of using DeviceNet function, for example, its area will be as shown below. Refer
to each option manual for its detailed function.

Link relay
LR3200~LR6315
DEV Digital I/O signal from
file DeviceNet
Link relay
LR0000~LR3115

Note;
# With PLC function enabled, data memory can be used for digital output.
# Binary data forma, which is output to data memory address is the same as the
format, which is input to AW output relay (12 bits). Data memory itself is 16 bits
long but the remaining 4 bits are not used. Refer to [3.3 Digital output address
setting] for address setting.

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TAWE-305-001 1 Introduction
 A rough flow of digital I/O function is illustrated below.
Refer to each appropriate chapter for detail.

Assign general-purpose I/O signals for inputting or outputting digital data in the
[Constants] menu. (Make setting of data memory also as digital data output, if necessary.)

Record M277 function to
robot program.
[Refer to 2.1 Digital input
speed control].
Make setting of TCP speed
vs. digital data table.
[Refer to 3.4 Digital speed
proportion output.]
Record M278 function to
robot program.
[Refer to 3.5 Digital output
function].

Play back robot program.

Caution
M169 analog input proportion speed control and M277 digital input speed
control cannot be used at the same time. If used, E0277 occurs and thereby
stopping the robot.

3
TAWE-305-001 1 Introduction
 1.2 Digital input speed control function
[Digital input speed control function] is to make playback speed changeable with digital value.
While [Digital input speed control] is kept enabled (bold line in the figure below), robot program’s
playback speed can be changed with digital value.

Step x

M277 ON

M277 OFF

Enabled in bold line

Step y

Let a speed control data set through either R-code (R49) or [Service] [Teach/Playback condition]
or speed control key be [Main playback speed override], and a control data designated with
digital value be [Digital input speed override]. By assuming that each is 50% and 50%
respectively, an actual playback speed rate will be
0.5 x 0.5 = 0.25 = 25%
If [low speed order] of standard inputs is input, [Digital input speed control function] will be disabled.
Four input ports are available.

1.3 Digital speed proportion output function

[Digital speed proportion output function] is to output digital data in proportion to TCP-speed to AW
output relay and data memory by using table of TCP-speed vs. digital value conversion. Digital
data can be output to 8 AW output relays and 8 data memories. But since 4 conversion tables are
only available, digital outputs can be output only to the port number (address number), which is set
to the conversion table. Two types of settings are available: [Speed digital setting] and [Formula
setting].
For Speed digital setting, the table of TCP-speed vs. digital value conversion is created by setting
Digital value (min.), Digital value (max.), Speed (min.) and Speed (max.).
For Formula setting, the table of TCP-speed (X) vs. digital data (Y) can be created through primary
expression Y = AX + B.

Refer to [3. Operation of output section] for detail.

4
TAWE-305-003
TAWE-305-001 1 Introduction
 1.4 Digital output function (M278)
Digital output function (M278) is to output digital value, which is set to parameter (fixed value), to
designated port and data memory. When digital output function is enabled with this function, the
set digital data (fixed value) can be output to a designated port.
Refer to [3. Operation of output section] for detail.

5
TAWE-305-001 1 Introduction
 2 Operation of input section
Usage of digital input function is described below.
2.1 Digital input speed control [M277]
[Outline]

Playback speed of robot program is controlled by input data (digital) from a designated port so
long as [Digital input speed control] is kept enabled (ON) by this function. With disable (OFF), input
data is ignored.

[Parameter]

No. Parameter Contents Remarks

1 ON/OFF
2 Input port number
Set Enabled (ON) or Disabled 1:ON / 0:OFF
(OFF) for digital input speed
control.
Set digital input port number. But 1 ~ 4
input port number, which is set
with #1 parameter to 0 (OFF), is
ignored.

[Robot language ]

SPDDOWND

[Example of screen displayed]

M277[1,4]

When digital input speed control has already been enabled or digital input speed control is
changed to enabled with the same or different input port, the latter will be enabled (overwrite).

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TAWE-305-001 2 Operation of input section
 [Example]
M277[1,2]

STEP1
Port 1
STEP2 M277[1,1] is recorded
STEP3 M277[1,2] is recorded
STEP4 M277[0,3]
STEP5
STEP6 M277[0,3] is recorded M277[1,1]

STEP6
Port 2
STEP1

Thin line; Digital input speed control disabled area

Bold line; Digital input speed control enabled area

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TAWE-305-001 2 Operation of input section
 2.2 Inputs assignment
It is necessary to assign input signals in advance for using [Digital input speed control].
For this, select [Constants] [4. Signal attributes] [2. Inputs signal] [1. Standard inputs].

Digital data can be input within the range of 7 bits (0~127) per port and the ports 1~4 are available.

(Example) In the above setting, if input signals 3,5,6 (port 1) were only ON and others turned
OFF, 011 0100 (binary) = 25 + 24 + 22 = 32 +16 +4 = 60 (decimal)
Thus digital data 60 are input to port 1.

Note;
# Under default conditions, input signals are not assigned to ports 2~4 as in the
above figure. If ports 2~4 are designated with M277 under these conditions, robot
acts only according to value set through [Main playback speed override].

Setting methods are described below.

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TAWE-305-001 2 Operation of input section
 3 Operation of output section

3.1 [Constants] menu

(1) With Constants menu open, the following menu is displayed. Select [33 Speed proportion
I/O].

SET

(2) With [3.Digital speed proportion out] selected, the following screens are displayed.
There are two setting screens: [Digital speed proportion out] and [Speed digital setting] and
[Formula setting]. The screen is changed alternately as shown below by selecting either
[Speed digital setting] or [Formula setting].

ENABLE ENABLE
Changed alternately (SHIFT)
+ (SHIFT)

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TAWE-305-001 3 Operation of output section
 Various setting methods are described below.

3.2 Outputs assignment

Select [Constants] [4. Signal attribute] [3 Outputs signal] [1. Standard outputs] and then assign
output signal to [Digital outputs] 1~8 listed in the following tables.

Digital value converted from playback speed (TCP-speed) using the digital output table is output
as binary to output signal assigned in the above.

(Example) For outputting “60” to digital output in the above assignment setting;
60 = 32 + 16 + 4 = 25 + 24 + 22 = 0000 0011 0100 (for binary)
Therefore only outputs 123, 125 and 126 are turned ON and others turned OFF.

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TAWE-305-001 3 Operation of output section
 3.3 Digital output address setting

Make setting of this when it is intended to output digital data to data memory.
Select [Constants] [33. Speed proportion I/O] [4. Digital output address set] and then the following
screen appears.

Digital value converted from playback speed (TCP-speed) is output also to data memory
(DN000~DM511), which is set in the above, by using the digital output table.

Note;
# Value is not input to data memory when 0 is set.
# Setting data 1~512 correspond to data memory DM000~DM511 respectively.
# Built-in PLC function (option) is required for referring to contents of data
memory.

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TAWE-305-001 3 Operation of output section
 3.4 Digital speed proportion output

3.4.1 Speed digital setting

For digital speed setting, [Table of TCP-speed vs. Digital value] is created by setting digital
value (min.), digital value (max.), speed (min.) and speed (max.).
Four tables are available.

This solid line represents Table of

Digital value (max.) TCP-speed vs. digital value. Digital
output value can be detected from
4095 TCP-tip speed in this table.
Digital value
(max.)
5000
Speed (min.)

Digital value
(min.)
Tool tip speed (mm/s)

Speed (max.)

By selecting Table setting [Speed digital setting] on the screen of [Constants] [33 Speed
proportion I/O] [3. Digital speed proportion out], the following screen is displayed.

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TAWE-305-001 3 Operation of output section
 [Port No.]: Set digital output Port No. on this table.
[Pre-output time]: Set pre-output time of digital data. (Common to all ports)
Note）Refer to 5.6 About the improvement of Pre-output time.

Setting range and default value for each item are listed below.

Item Range Initial value

Port No. 0~8 0
Pre-output time (sec) 0~1 0
Digital value (min.) 0 ~ 4095 0
Speed (min.) (mm/s) 0 ~ 5000 0
Digital value (max.) 0 ~ 4095 0
Speed (max.) (mm/s) 0 ~ 5000 0

Note;
# With Port No. set with 0, the table is not to be used.
# Already set Port No. cannot be set to another table.
# Digital value (min.) can be set higher than digital value (max.) but speed (min.)
must not exceed speed (max.).
# When Formula setting is changed to Speed digital setting, digital value
(max./min.) and speed (max./min.) are displayed by calculating gradient and level,
which were set to Formula setting.

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TAWE-305-001 3 Operation of output section
 3.4.2 Formula setting
For Formula setting, [Table of Tool tip speed vs. Digital output] is created by linear expression
Y = AX + B.

Digital value (Y) = Gradient (A) × TCP-speed (X) + Level (B)

Y : Digital output value Gradient (A) = ∆Y / ∆X

4095
In this example, restriction is
∆Y applied with digital value (min.)
B and digital value (max.)
AX+B.
5000

X : TCP-speed (mm/s)

Level B

∆X

By selecting Table setting [Formula setting] on the screen of [Constants] [33 Speed proportion
I/O] [3. Digital speed proportion out], the following screen is displayed.

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TAWE-305-001 3 Operation of output section
 [Port No.]: Set digital output Port No. on this table.
[Pre-output time]: Set pre-output time of digital data.
Note）Refer to 5.6 About the improvement of Pre-output time.

[Gradient]: Set a gradient on the above characteristic figure with unit D/m/sec (D/inch/min).
[Level]: Set digital value when the TCP-speed is 0 (mm/sec).

Setting range and default value for each item are listed below.

Item Range Initial value

Port No. 0~8 0
Pre-output time 0.00 ~ 0.30 0.00
Gradient -1000 ~ +1000 1093.613
Level -1000 ~ 4095 -1.49

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TAWE-305-001 3 Operation of output section
 3.5 Digital output function (M278)
[Outline]
It is possible to output designated digital value (fixed) to a designated port so long as digital output
is enabled with this function.

4095

Designated
digital value

5000

TCP-speed (mm/s)

[Parameter]

No. Parameter Contents Range

1 Output port No.
2 Output digital value
3 Pre-output time (sec.)
4 ON/OFF
Designate Port No. for sending digital 1~8
value
Designate digital value for sending to 0 ~ 4095
output port.
Make setting of this for sending a 0.00 ~ 1.00
designated digital value before
arriving at a recorded step.
Set digital output either to enabled 1:ON / 0:OFF
(ON) or disabled (OFF).

[Robot language]

DOUT

[Example of display]

M278[1,25,0.30,1]

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TAWE-305-001 3 Operation of output section
 3.6 Manual digital output (R278)
[Outline]
Designated digital value (fixed) can be sent to a designated port by using Manual digital output
(R278).

[Parameter]

No. Parameter Contents Range

1 Designate port No. for sending 1 ~ 8
Output port No.
digital value.
2 Output digital value Designate digital value for 0 ~ 4095
sending to output port.

[Input example]

R278,1,60

Note:
# This R code cannot be used while robot is running.

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TAWE-305-001 3 Operation of output section
 4 Monitor

4.1 Digital I/O monitor

(1) The following menu appears when opening [Service] menu.

SET

(2) The following digital I/O monitor appears when pressing SET key.

TCP-speed (mm/s) : This shows a speed of the tool contact point currently used.
Port : This shows digital output port No. (1~8)
Status : This shows which port is used as input port. Currently used port is
marked with ●.
Input : This shows digital input value from port.
Output : This shows digital output value to port. Characters attached to the
right side of the value represent as follows:
[Speed] : This shows that digital value proportional to speed is currently
being output through the port, which is set on the table of
digital speed proportion output .
[Auto] : This shows digital value, which is now being output by M278
(Digital output function).
[Manual] : This shows digital value, which is now being output by R278
(Manual digital output).

18
TAWE-305-001 4 Monitor
 4.2 Built-in PLC ladder monitor
With built-in PLC function (option) enabled, if data memory address is set through setting
digital output address, this data memory status can be monitored.

(1) With [Service] menu open, the following menu appears.

SET

SET

(2) Select [f1; I/O] [f2; E.R] [f7; DM] in this order, and then data memory status can be
monitored as is shown below.

19
TAWE-305-001 4 Monitor
 5 Supplement
An exceptional process is described hereunder.
5.1 Playback of M278 function
Digital speed proportion output turns disabled while M278 is being executed and the output turns
enabled when M278 is completed.

Not actually output

Output digital
value
Digital speed prop. output under way Digital speed prop. output under
4095

Digital value A

time(sec)

Digital value B

M278 M278
Digital value A M278unde way (A) Output order
M278 under way (B)
output order OFF
M278
Digital value B
output order

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TAWE-305-001 5 Supplement
 5.2 Robot stop while M278 is being executed
When robot stops halfway with motors off while M278 is being executed, digital value through
M278 is kept outputting.
If power is turned off while M278 is being executed, digital value is output at a speed (mm/sec),
which is set with the table of digital speed proportion output vs. TCP-speed digital value.
And if power is turned on again, voltage is output also at a speed (mm/sec), which is set with the
table of digital speed proportion output vs. TCP-speed digital value.

5.3 Robot stop during digital speed proportion output

When motors off, halfway stop or power off takes place or power is turned on again, TCP-
speed turns to 0 (mm/sec) and digital value is output corresponding to the table of digital
speed proportion output vs. TCP-speed digital value.

5.4 Digital input value

Digital input value is ignored if input signal is not assigned to a port designated with M277 or all
input signal is off and then operated with [Main playback speed control].

5.5 When low speed playback command is ON

Operation is going on at a low speed if [Low speed] is indicated on the status monitor, under which
conditions, operation does not function even though digital input is enabled.

5.6 About the improvement of Pre-output time (AWV04.040.200 and after)

When 0.1 seconds or more are set, Pre-output cannot occasionally be correctly done with past
Pre-output time.
Improvement of Pre-output time is an improvement of the above-mentioned matter for Pre-output
to do correctly until 0.5 seconds.
Please make "Improve anticipation time" improve in [constants][Controller constants].
This improvement method retards the movement of the robot from output of Speed proportion I/O
at the Pre-output time ahead. Therefore, it takes time more than usually in begin movement from
stopping the robot, and the amount cycle time will expand. The movement of the robot will be
delayed at the Pre-output time ahead when the step go/back similarly (The manual operation is
excluded). Moreover, stopping time of the robot is delayed at the Pre-output time ahead when the
stop is input, and stopping time of the robot becomes conventional at the emergency stop input.

21
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TAWE-305-001 5 Supplement
 22
TAWE-305-001 5 Supplement
Manual Revision table

Deleted pages Additional Pages Reason

First edition 13 13 Add to Note)
to 15 15 Add to Note)
Second edition 21 21 Add to 5.6

Deleted pages Additional Pages Reason

Second edition 4 4 Chang (2 Operation of output section)
to to (3 Operation of output section).
Third edition

(1)
TAWE-305-002
 (2)
TAWE-305-002
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