DENSO robots have numerous digital inputs and outputs. This article tells you how to modify the starting positions corresponding to DENSO robot’s digital outputs (DO) and Mech-Viz, adjust the starting positions monitored by DENSO robot’s digital inputs (DI) and expand the number of monitored DI bits.
Modifying the Starting Position of Robot’s DO Corresponding to Mech-Viz
In the master control program, by default, Mech-Viz’s DO0 corresponds to the robot’s DO24. You can modify the value of _DO_Start_Num as shown in the cao_controller.py file at line 5, changing it to 100. This means Mech-Viz’s DO0 corresponds to the robot’s DO100 as illustrated in the following screenshot:
Modifying the Starting Position of Robot’s DI Corresponding to Mech-Viz
In the master control program, by default, Mech-Viz’s DI0 corresponds to the robot’s DI8. You can modify the value in the denso_robot_adapter.py file at line 29, changing “IOB8” to 100. This means Mech-Viz’s DI0 corresponds to the robot’s DI100 as illustrated in the following screenshot:
Expanding the Number of Robot DI Monitored by Mech-Viz
In the main control program, it monitors the robot’s DI8 to DI15 by default, which constitutes 15 digital inputs. You can modify the value in the denso_robot_adapter.py file at line 29, changing “IOB8” to “IOD552”. This means monitoring the robot’s DI552 to DI583, which accounts for 32 digital inputs, as illustrated in the following image.
Additionally, modify line 33 as shown in the following image.
