SIGNAL program instruction SIGNAL program instruction Syntax SIGNAL signal_num, ..., signal_num Function Turn on or off external digital output signals or internal software signals. Parameter signal_num Real-valued expression that evaluates to a digital output or internal signal number. A positive value indicates turn on; a negative value indicates turn off. (SIGNAL ignores parameters with a zero value.) Details The magnitude of a signal_num parameter determines which digital or internal signal is to be considered. Only digital output signals (numbered from 1 to 8 and 33 to 512) and internal (software) signals (numbered from 2001 to 2512) can be specified.
Only digital signals that are actually installed and configured as outputs can be used. To check your current digital I/O configuration, use the IO monitor command. Signals 3001 and 3002 refer to the robot selected by the current task. Signal 3001 is the state of the hand-close solenoid. Signal 3002 is the state of the hand-open solenoid. If the sign of the signal_num parameter is positive, the signal is turned on. If the sign of the signal_num parameter is negative, the signal is turned off. NOTE: All eV+ digital output instructions do not wait for a 16 millisecond eV+ cycle, they are turned on immediately.
However, digital inputs are checked every 16 milliseconds by the eV+ operating system. Allowing the possibility to turn on and off a signal before the system can read the output. Examples Turn off the external output signal specified by the value of the variable reset (assuming the value of reset is positive), and turn on external output signal #4: SIGNAL -reset, 4 Turn external output signal #1 off, external output signal #4 on, and internal software signal #2010 on: SIGNAL -1, 4, 2010 eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 475