Universal Robots Forum

DigitalInputActions on Fieldbus-inputs

Hello to all!
Is there a way that fieldbus inputs can have an action just like the robot internal inputs?
I would like a fieldbus-input to become FREEDRIVE function.

Could this function be configured by changing the value of the specific input in the register in the “default.installation” - file
(NONE => FREEDRIVE)?

GeneralPurposeBooleanRegisterInputActions value=“NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE, NONE”/

Is there a way to access this register from external?

Regards, Herbert

You can configure IO Actions for gp boolean input registers under the installation tab in Polyscope in the same way you can do it for digital inputs. Doing it for gp_bool_in[0] contributes this to the script file sent to the controller:

set_gp_boolean_input_action(0, "freedrive")

It’s not in the script manual and I haven’t tested this in on a real robot, but I imagine you could send this configuration script to the one of the client interface ports and then set the register via Ethernet/IP or Profinet.

How do Modbus - inputs refer to the gp_boolean_input_register?

In the Polyscope I/O tab I can see all Modbus - output signals
with option to configure their behaviour but the Modbus - input
signals do not appear in this tab. Why?!?

Best regards, Herbert

Moved to Feature Requests.