Remote I/O Sub-Panel

When the "Configuration" tab is clicked and the "Remote DIO" button is pressed, the panel is displayed in the bottom right of the Configuration page.  This panel defines the system digital input and output signals that are used to remotely control Guidance Dispense.  These settings should not have to be changed once a system is wired and the hardware configuration has been debugged.

These are signals that are provided by the robot's main I/O board which is exposed as I/O connectors on the side of the robot X axis module. If you do not have a PrecisePlace robot you can configure these signals to connect to your own connector wired to any supported I/O of the Guidance Controller.

Note: If any of these signals are not present, their signal number should be set to 0 to avoid generating a runtime error.

 

Item Name

Description

[x] Enable Remote I/O Control

If this is checked, the remote I/O server that is built into Guidance Dispense is activated. While activated, the digital I/O defined below is used to remotely trigger execution of dispensing processes. In addition, there is I/O that can be monitored for fault condition and recovery.

Note: While in Remote mode, normal editing and display of configuration and setup panels is suspended. You must uncheck this box to allow for standard setup and debugging operations.

Digital Input Address

Description

Process Select Bit 1

Defines the DIO signals that represent a bit mask for selecting a specified 'Process File'. Up to 8 different Process operations can be selected from these 3 bits.

Below is a table that describes the input bit states and which process select operation will be used.

Bit3 Bit2 Bit1 Process
off off off Select 0
off off on Select 1
off on off Select 2
off on on Select 3
on off off Select 4
on off on Select 5
on on off Select 6
on on on Select 7

Note: The input must be set prior to turning on the 'Run Process' input.

Process Select Bit 2
Process Select Bit 3
Run Process

Input that when goes 'HIGH' will trigger execution of the selected process file based on the 'Bit1,2,3' states.

Note: it is expected that this input be held high for at least 100 msec. to trigger the operation. If the input is held high for 3 seconds after the operation completes, a fault condition output is latched.

Clr / En Pwr / Move Safe

This input is used to clear a fault, enable robot high power and move the robot to a safe location.

This single input is what is used anytime the system is first booted up (as it will home the robot) as well as any time after an e-stop or other error. It attempts a complete recovery from any condition.

Sequence is as follows:

1. Robot enables high power
2. If not homed will home the robot (after initial power up)
3. Retracts the arm from current position up in Z to the same height as the taught safe location.
4. Approaches and moves to the 'Safe' location.

Note: it is expected that this input be held high for at least 100 msec. to trigger the operation. If the input is held high for 3 seconds after the operation completes, a fault condition output is latched.

Purge

Executes a purge sequence. Will perform a purge on both heads if the purge locations have been taught. Otherwise it will skip the purge for the non taught purge locations.

Note: it is expected that this input be held high for at least 100 msec. to trigger the operation. If the input is held high for 3 seconds after the operation completes, a fault condition output is latched.

Disable Power As a convenience (without using the e-stop button), this disables high power. Any subsequent command will cause a fault (except a Clear).

Digital Outputs

Description

High Power When ever servo high power is active, this output is ON.
System Ready

When ever the system is ready to except commands, this output is ON. If the 'Enable remote I/O control' is not enabled, this output is turned off.

This output is also turned OFF any time the system is Busy.

System Busy Any time the system is active executing any operation, this output is ON. It will go OFF when complete or a fault condition occurs.
Fault

Anytime a process does not complete normally, this output is turned on. Standard Web Dialogs are still active and can be used to determine the reason for the fault. For details of the fault, please see the system messages section of the operator panel for details.

To clear this output, enable the 'Clear' input.

Process File Names

Description

Select 0
Select 1..7

Up to 8 different process file names can be entered (one per field). These correspond to the 'Process Select Bit n' values.