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Signal Class

The global Signal Class provides access to the hardware features of the Guidance Control System that allow GPL programs to interface to other equipment in the work cell using common, simple techniques.  These interfaces include “digital input and output (I/O)” signals and “analog I/O” signals.  Digital and analog I/O signals permit GPL programs to coordinate the operation of the robot with other equipment using go/no-go semaphores and to interface to various simple sensors.

These hardware interfaces serve as global resources to all threads and are therefore represented by a global class.   To access these interfaces, it is not necessary to create an instance of the class; you can refer to the Signal Class directly.  For example, to read the value of the first digital I/O signal you could execute the following:

Dim signal_state As Boolean
signal_state = Signal.DIO(1) 

All of the properties and methods for the Signal Class are described in detail in the Reference Documentation section.  Table 19-13 summarizes this information.