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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.
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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.
| Info |
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Remember: To change the IO type, update the 0th element of the array, i.e. always put [0] behind the variable name, e.g.:
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rf_in_1_product1: first product sensor on the primary conveyorrf_in_1_product2: second product sensor on the primary conveyorrf_in_1_product3...8: additional sensors on the primary conveyor (up to 8 supported)rf_in_2_product1: first product sensor on the secondary conveyorrf_in_2_product2: second product sensor on the secondary conveyorrf_in_2_product3...8: additional sensor on the secondary conveyor (up to 8 supported)rf_in_overflow1: priority sensor on the first conveyorrf_in_overflow2: priority sensor on the second conveyorrf_in_button_P1: right pallet confirmation signalrf_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:
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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
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rf_in_1_product1[0] = -11 # simulate product presence |
Example 3) evaluate two sensors, set pick signal to HIGH only when both are HIGH
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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 |