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In the Pally program we use variables to define IO channels in a generic way. The address of every IO channel is defined by a special variable, which is an array. The 0th element of the array is always the IO type (standard IO, configurable IO, tool IO, MODBUS, etc. - the complete list can be found here) and the 1st element is the actual IO channel number.

Example values:

[0, 5] means standard digital signal nr. 5

[1, 6] means configurable digital signal nr. 6

[10, 5] means standard digital signal nr. 5 with inverted logic

etc.

For this article, the following special constantsIO types are relevant:

-11: always returns True (no real physical IO channel being accessed)

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If you want to provide mock signals for the Pally program from another thread, set the data source of the corresponding IO channel type (element 0 of the array) to either -1 or -11 in runtime.

The name of the relevant IO channel variables

The variable names are listed below.

• rf_in_1_product1: first product sensor on the primary conveyor

• rf_in_1_product2: second product sensor on the primary conveyor

• rf_in_1_product3...8: additional sensors on the primary conveyor (up to 8 supported)

• rf_in_2_product1: first product sensor on the secondary conveyor

• rf_in_2_product2: second product sensor on the secondary conveyor

• rf_in_2_product3...8: additional sensor on the secondary conveyor (up to 8 supported)

• rf_in_overflow1: priority sensor on the first conveyor

• rf_in_overflow2: priority sensor on the second conveyor

• rf_in_button_P1: right pallet confirmation signal

• rf_in_button_P2: left pallet confirmation signal

Example: To simulate a constant HIGH signal, set the corresponding input type to -11.

To simulate a constant LOG signal, set the corresponding input type to -1.

The complete list of available IO types can be found here.

Examples

Example 1) simulate the operator has pushed the Right pallet confirmation button:

rf_in_button_P1[0] = -11 # simulate user pushed the button

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sleep(0.5)

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rf_in_button_P1[0] = -1 # simulate user released the button

This will detach the program from the physical IO channel and evaluate as True and False.

Example 2) simulate a product on the first pick position on the primary conveyor

rf_in_1_product1[0] = -11 # simulate product presence

Example 3) evaluate two sensors, set pick signal to HIGH only when both are HIGH

if (get_standard_digital_in(0) and get_standard_digital_in(1)): 
  rf_in_1_product1[0] = -11 # simulate product present
else:
  rf_in_1_product1[0] = -1 # simulate no product present