Global Signals

Global signals are internal flags that can be set in the robot program like digital outputs and evaluated like digital inputs. They can be used for example to store simple state information or to communicate between robot program and logic program.

Since global signals can also be read and set via the CRI and Modbus interfaces, robot programs can also use them to communicate with external applications or a PLC. The concept of global signals is similar to coils in Modbus or a boolean in high-level language programming.

In conditions in the robot program, the GSig keyword can be used to query the state of the global signal. For example GSig1 for the first signal. There are 100 global signals available.

Global Signals can be defined via the "Inputs / Outputs" Tab in the configuration section.