Passing Current Position to an External Device

This article explains how to pass the robot’s current position in real time VIA Concurrent I/O (CIO). The process involves enabling the storage of positions in registers via parameters S1CxG208 to S1CxG215. The last six parameters in that range control which registers will hold the results.

1. You will need to configure the following parameters to activate the current position function.
   
   In the configuration above the current position is being written to the M-Registers below.
   
2. Getting the current position values from the M-Registers to the external device Via external outputs is going to require a CIO ladder change. First verify where the external starting addresses are, for this example the external device is allocated at the addresses below.
   
3. Below is the CIO ladder change for passing the M-Register values to the External Outputs.
   
   
4. Lastly, after the CIO ladder has been changed monitor the external outputs while the robot is moving to see to the external outputs updating. See example below.