Usereingabe ueber TP im Automatik

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14.2.3 Teach Pendant Input and Output Signals (TPIN/TPOUT)

The teach pendant input signals (TPIN) provide read access to input signals generated by the teach pendant keys. Teach pendant inputs can be accessed through the TPIN port arrays. A KAREL program treats teach pendant input data as a BOOLEAN data type. The value is either ON (active--the key is pressed) or OFF (inactive--the key is not pressed). TPIN signals are accessed in KAREL programs by the name TPIN[n], where ``n'' is the signal number, which is assigned internally. Refer to Table 14-7 for teach pendant input signal assignments.
Table 14-7 . Teach Pendant Input Signal Assignments

TPIN[n]

EMERGENCY STOP AND DEADMAN
TPIN[250] EMERGENCY STOP
TPIN[249] ON/OFF switch
TPIN[247] Right DEADMAN switch
TPIN[248] Left DEADMAN switch

Arrow Keys
TPIN[212] Up arrow
TPIN[213] Down arrow
TPIN[208] Right arrow
TPIN[209] Left arrow

Keypad Keys (shifted or unshifted)
TPIN[13] ENTER
TPIN[8] BACK SPACE
TPIN[48] 0
TPIN[49] 1
TPIN[50] 2
TPIN[51] 3
TPIN[52] 4
TPIN[53] 5
TPIN[54] 6
TPIN[55] 7
TPIN[56] 8
TPIN[57] 9

Function Keys
TPIN[128] PREV
TPIN[129] F1
TPIN[131] F2
TPIN[132] F3
TPIN[133] F4
TPIN[134] F5
TPIN[135] NEXT

Menu Keys
TPIN[143] SELECT
TPIN[144] MENUS
TPIN[145] EDIT
TPIN[146] DATA
TPIN[147] FCTN

Menu Keys
TPIN[148] ITEM
TPIN[149] +%
TPIN[150] -%
TPIN[151] HOLD
TPIN[152] STEP
TPIN[153] RESET

User Function Keys
TPIN[173] USER KEY 1
TPIN[174] USER KEY 2
TPIN[175] USER KEY 3
TPIN[176] USER KEY 4
TPIN[177] USER KEY 5
TPIN[178] USER KEY 6
TPIN[210] USER KEY 7

Motion Keys
TPIN[185] FWD
TPIN[186] BWD
TPIN[187] COORD
TPIN[188] +X
TPIN[189] +Y
TPIN[190] +Z
TPIN[191] +X rotation
TPIN[192] +Y rotation
TPIN[193] +Z rotation
TPIN[194] -X
TPIN[195] -Y
TPIN[196] -Z
TPIN[197] -X rotation
TPIN[198] -Y rotation
TPIN[199] -Z rotation

Three teach pendant output signals are available for use:
* · TPOUT[6] - controls teach pendant USER LED #1
* · TPOUT[7] - controls teach pendant USER LED #2
* · TPOUT[8] - controls teach pendant USER LED #3