Operation
MagnaTran 7.1 User’s Manual
Discrete I/O Control (DIO)
MN-003-1600-00
Brooks Automation
6-46
Revision 2.2
DIO Start-up
To use the DIO control feature of the robot, a DIO START command (refer to
) must be executed from the serial communications link or through
the CDM. A four second delay during power-up drives all outputs low and renders
the DIO function as not available.
To end the use of the DIO control feature, a DIO STOP command (refer to
) must be executed from the serial communications link or through the
CDM.
If power is shut off after DIO mode is started, in order to restart DIO mode, a DIO
STOP and then a DIO START must be issued through the serial interface or CDM to
restart the discreet interface.
DIO Signal Definitions
The actual signal definitions of DIO control depends on the I/O board type in the
robot (HIGH side or LOW side) and how the robot logic mapping was configured
(active HIGH or active LOW).
A HIGH SIDE I/O BOARD with ACTIVE HIGH will behave the same as a
LOW SIDE I/O BOARD with ACTIVE LOW.
A HIGH SIDE I/O BOARD with ACTIVE LOW will behave the same as a LOW
SIDE I/O BOARD with ACTIVE HIGH.
The following signal definitions will be discussed as two options:
OPTION A
: HIGH side board with active HIGH
or LOW side board with active LOW
OPTION B
: HIGH side board with active LOW
or LOW side board with active HIGH
