How to read EN1 in Rapid program

Robot Controller
1

I want to call a Trap routine when EN1 goes high. I tried this line:

ISignalDI EN1, 1, MyTrapProc;

The compiler complains that it does not know EN1.

In the CFG/IO list, EN1 has INTERNAL access, which is ReadOnly to RAPID programs.

What am I doing wrong?

Thanks for your help.

2

Moved to RobotWare forum

3

Hello,
Try creating a virtual output with ALL access and then cross connect the Safety input to the virtual output. Interrupt on your virtual output.

BR Jim

4

[QUOTE=j_proulx]Hello,
Try creating a virtual output with ALL access and then cross connect the Safety input to the virtual output. Interrupt on your virtual output.

BR Jim
[/QUOTE]
Thanks, Jim. The ABB guy has been here doing some training…and that is the solution he suggested.

It works well.

5

Hi
What if I want to change the value of signal EN1 during simulation? CUrrently I have no access right.

Thanks

6

Hello,
Because you do not have a real controller so EN1 does not exist. You will need to create a signal to simulate EN1.

BR Jim Proulx

7

In my case, I already create a controller. I can see En1 in the IO > Signal (offline tab), but i cannot access it since it is internal signal. Is there a way to change the value?