Abb robot io
Provides access to I/O signals of a robot.
Additionally from signal properties level it provides management of robot's signals.
Inputs
Field | Type | Description |
---|---|---|
payload |
number or boolean | Value of I/O signal to set. |
Outputs
Field | Type | Description |
---|---|---|
payload |
number | Value of I/O signal. |
Details
When Subscription
property of the node is set then message will be emitted on each change of signal value in a robot.
In other case getting value of signal might be triggered by input message without msg.payload
set.
Example output message:
{
"topic": "IO_VALUE",
"payload": 1,
"ioPath": "diSensor"
}
To set value of signal msg.payload
must be set to boolean
or number
value.
Output will be similar to above.
To avoid creation of multiple IO nodes for different robots with same signal msg.configId
can be used to override Config ID
property.
ℹ️ NOTE:
Default
level access usually deny signal value changes which ends up with node error. In such case setAccess Level
toAll
.
Example input message which changes diSensor
value to 1
:
{
"payload": 1
}
Except configuration of Signal
name to observe/change user have option to modify/delete existing or create new signals by clicking on edit icon.
The main idea behind it is to remove need of RobotStudio
usage to configure signals.
Due to that fields names in forms are the same like in Configuration -> I/O System -> Signal
section in RobotStudio
.
ℹ️ NOTE: Each change of I/O signal configuration requires controller restart.
⚠️ IMPORTANT: Due to existing issues with reconnection to restarted controller using this functionality is not recommended. As a workaround restart of
Node-RED
might be needed in case of connection errors.
Configuration
Property | Description |
---|---|
Name | Name of the node instance |
Config | A config node with robot connection parameters |
Config ID | ID of config node |
Subscription | Should node emit messages on signal changes |
Signal | Signals list with signal configuration form button |