Read and trigger I/Os on the robot controller

The 4.10 version of Fuzzy RTOS added the ability to read & trigger I/Os from the robot controller.

This feature is only available on ABB and Fanuc controllers (more to come).

I/O requests are handled asynchronously from the Fuzzy RTOS runtime’s realtime control loop and typically execute within in a few milliseconds.

warning

🚧 This feature is considered as beta. It is subject to changes between the next version to stabilize the API. Your feedback is important !

Configure I/Os on ABB controllers

• Underlying API: Robot Web Services
• I/Os must be configured in RobotStudio
  
• The full name of an I/O is {network}/{device}/{name} (eg: IntBus/EPanel/EStopStatus). Slashes must be encoded as %2F when used in URLs of single-io endpoints.

Configure I/Os on Fanuc controllers

• Underlying API: Modbus TCP
• Modbus must be enabled on the controller ($SNPX_PARAM.$NUM_MODBUS=1 and $SNPX_PARAM .$MODBUS_PORT=502)
• All controller I/Os are available

I/O API

The following REST endpoints are now available:

• /ios (GET): get the list of available I/Os

Curl request

curl --location --request GET 'http://fuzzy-rtos:8000/ios'

Possible response

{
  "header": { "timestamp": "2024-02-26T14:54:38.542577400Z" },
  "ios": [
    {
      "firstIo": {
        "name": "DI",
        "ioType": "IOTYPE_INPUT",
        "valueType": "IODATATYPE_BOOL",
        "value": "",
        "index": 1
      },
      "quantity": 10000
    },
    {
      "firstIo": {
        "name": "RI",
        "ioType": "IOTYPE_INPUT",
        "valueType": "IODATATYPE_BOOL",
        "value": "",
        "index": 1
      },
      "quantity": 10000
    },
    {
      "firstIo": {
        "name": "UI",
        "ioType": "IOTYPE_INPUT",
        "valueType": "IODATATYPE_BOOL",
        "value": "",
        "index": 1
      },
      "quantity": 10000
    },
    {
      "firstIo": {
        "name": "UO",
        "ioType": "IOTYPE_OUTPUT",
        "valueType": "IODATATYPE_BOOL",
        "value": "",
        "index": 1
      },
      "quantity": 1000
    },
    // etc...
  ]
}

• /ios/read (GET): read ranges of I/Os

Sample body to read DI[2-3] and RI[1]

{
  "ioRanges": [
    {
      "firstIo": {
        "name": "DI",
        "index": 2
      },
      "quantity": 2
    },
    {
      "firstIo": {
        "name": "RI",
        "index": 1
      },
      "quantity": 1
    }
  ]
}

Curl request to read DI[2-3] and RI[1]

curl --location --request GET 'http://fuzzy-rtos:8000/ios/read' \
--header 'Content-Type: application/json' \
--data '{
  "ioRanges": [
    {
      "firstIo": {
        "name": "DI",
        "index": 2
      },
      "quantity": 2
    },
    {
      "firstIo": {
        "name": "RI",
        "index": 1
      },
      "quantity": 1
    }
  ]
}'

Possible response

{
  "header": { "timestamp": "2024-02-26T14:57:41.568520500Z" },
  "ios": [
    {
      "name": "DI",
      "ioType": "IOTYPE_INPUT",
      "valueType": "IODATATYPE_BOOL",
      "value": "0",
      "index": 2
    },
    {
      "name": "DI",
      "ioType": "IOTYPE_INPUT",
      "valueType": "IODATATYPE_BOOL",
      "value": "0",
      "index": 3
    },
    {
      "name": "RI",
      "ioType": "IOTYPE_INPUT",
      "valueType": "IODATATYPE_BOOL",
      "value": "0",
      "index": 1
    }
  ]
}

• /ios/write (POST): Write ranges of I/Os

Sample body to set DO[4] to 1 and RO[2] to 0

{
  "ios": [
    {
      "name": "DO",
      "value": "1",
      "index": 4
    },
    {
      "name": "RO",
      "value": "0",
      "index": 2
    }
  ]
}

Curl request to set DO[4] to 1 and RO[2] to 0

curl --location --request POST 'http://fuzzy-rtos:8000/ios/write' \
--header 'Content-Type: application/json' \
--data '{
    "ios": [
        {
            "name": "DO",
            "index": 4,
            "value": "1"
        },
        {
            "name": "RO",
            "index": 2,
            "value": "0"
        }
    ]
}'

We also provide single-io endpoints for convenience

• /ios/{io-name}?index={index} (GET): read a single I/O value

Curl request to read RI[3]

curl --location --request GET 'http://fuzzy-rtos:8000/ios/RI?index=3'

Possible response

{
  "header": { "timestamp": "2024-02-26T15:06:36.057323200Z" },
  "io": {
    "name": "RI",
    "ioType": "IOTYPE_INPUT",
    "valueType": "IODATATYPE_BOOL",
    "value": "0",
    "index": 3
  }
}

• /ios/{io-name}?index={index}&value={value} (POST): set a single I/O

Curl request to set GO[5] = 1

curl --location --request POST 'http://fuzzy-rtos:8000/ios/GO?index=5&value=1'