How to configure the input/output signals of ABB robots on the teaching pendant? (Multiple images)

To complete the input/output (IO) signal exchange between the robot system and the outside world, in addition to correctly connecting the IO signal board (bus address configuration and electrical wiring) in hardware, it is also necessary to configure the type and signal of the connected IO board in software. The previous article introduced the standard IO signal board (DSQC652) for ABB robots. Today, in this article, we will talk about how to configure the robot's IO signal on the teaching pendant.

Firstly, open the teaching pendant, click on the ABB menu, and select Control Panel, as shown in the following figure:

In the Control Panel, select [Configuration], as shown in the following figure:

In the Configuration panel, double-click on Unit:

In the Unit panel, select Add:

In the new Add panel, there is a default value of tmp0 in the Name column. Suggest choosing a meaningful name, such as "IO_1", as shown in the following figure:

The next line of [Name] is used to set the type of IO board. Assuming the model of the IO board we want to configure is DSQC652, select "d652" in the option [Type of Unit], as shown in the following figure:

The third line [Connected to Bus] is used to set the bus for the IO board connection. Here, we select [DeviceNet1], as shown in the following figure:

After setting up the bus, the next step is to set the address of the IO board on the bus.
Click to page down, find the DeviceNet Bus Address, and modify it to the address set by the hardware, such as 10: (If you are not sure how to set the hardware address, please refer to this article: How to set the DeviceNet bus address of the ABB robot standard IO board?)

After clicking [OK], the configuration of the IO board is completed. But the task is not yet completed, and each IO signal in the IO board needs to be configured;
The unit we configured earlier is the DSQC652 type. In DSQC652, X1 and X2 are digital output terminals, while X3 and X4 are digital input terminals; The address assigned to terminal 1 of X1 is 0, increasing in sequence. (For address allocation, please refer to this article: Understanding the Standard IO Signal Board for ABB Robotics - DSQC652)
We now need to configure terminal 1 (address 0) of X1 (digital output). Firstly, in [Configuration], locate [Signal]:

Double click to open the Signal panel and click Add:

Give a name to the newly added signal, such as "IO1_Q0":

Then set the 'Type of Signal'.
X1 is a digital output, select 'Digital Output' here, as shown in the following figure:

Assign this signal to Unit IO_ 1:

Set the unit address corresponding to the signal [Unit Mapping]. Because the current setting is terminal 1 of X1 and the address assigned to it is 0, [Unit Mapping] is set to 0, as shown in the following figure:

Alright, here we have completed the configuration of the DSQC652 standard IO board and the signal configuration of terminal 1 of X1 on the IO board. The same principle can be used to configure other signal terminals.