Skip to main content

Configure Objects, Pulsar, PLC, Vision, and Safety

When to use this guide​

Use this guide when an app must connect to a PLC, motion bus, camera, or custom device, or when motion outputs require engineering interlocks.

Objects are the semantic device interfaces used by Pages and Graphs. Pulsar, PLC, and Vision each have a dedicated configuration workspace. Do not scatter register addresses across pages or bypass device Objects to control hardware directly.

Before you start​

  • Prepare an approved device list, protocol, addresses, units, ranges, axis parameters, and IO table.
  • Confirm that the current Runtime target, license, and hardware match the planned test.
  • Stop the app before an online connection and place the equipment in an approved test state.
  • For real outputs, arrange an observer, an emergency-stop method, and a low-risk test setup.

Steps​

General Objects and custom devices​

  1. Open the context menu in an empty area of Object Tree and choose an object type.
  2. Add a child from its parent or drag objects to arrange an ownership hierarchy.
  3. Select an object and set connection parameters and object references in Properties.
  4. Drag the object into a Graph, or select one of its semantic methods from a Page Method.
  5. Verify read-only state and simulated inputs before testing any method that causes motion or output.

When no built-in type fits, create a custom object under Resources → Scripts. The new type becomes available only after its build succeeds.

Pulsar motion and IO​

  1. Open Settings → General, enable Motion module, and save.
  2. Open the new Settings → Axis/IO section.
  3. Configure the bus and slaves first, followed by axes, motion groups, and DI, DO, AI, and AO points.
  4. Check that the matching Pulsar, Axis, MotionGroup, and IO objects appear in Object Tree.
  5. Select the correct Runtime target, choose Connect, and inspect bus state and scan results.
  6. Read feedback first. Then verify homing and motion one axis at a time, at low speed and without load, before testing coordinated motion and flow calls.

PLC​

  1. Open Settings → General, enable PLC module, and save.
  2. Open the context menu on the Resources → PLC root and choose Initialize PLC.
  3. Choose the initial language: LD, ST, FBD, or SFC.
  4. Maintain POUs, Tags, and Tasks under the PLC resource. Use Properties to edit the selected item's settings.
  5. Save and run Build. Resolve compile and address diagnostics before online verification.

Vision​

  1. Open Settings → General, enable Vision module, and save.
  2. Add a Camera and Inspection under Resources → Vision or Settings → Vision.
  3. Enter the camera connection and prepare representative OK, NG, and boundary samples for the Inspection.
  4. Validate candidate algorithm versions in the Inspection's Samples and Versions & Debug workspace.
  5. Confirm only a version that passes sample and on-site retesting, then call the Vision object from a Page or Graph.

Safety engineering interlocks​

  1. Enable and save Motion module, then finish the related axis and IO point configuration.
  2. Open Resources → Safety.
  3. Define Safety Inputs, Safety Outputs, and Safety Interlocks, in that order.
  4. For each interlock, specify the trigger condition, output target, and expected safe state.
  5. Save and review Problems. Run or connect the app again so the new interlocks enter the runtime.
  6. Test input activation, output action, reset conditions, communication loss, and invalid values separately.
danger

Theseus Safety provides engineering interlocks. It is not a certified safety PLC and does not replace hardware emergency stops, safety relays, or safety controllers.

What success looks like​

  • Object Tree contains clear business devices and actions, with no duplicate or missing types.
  • Pulsar online state, axis feedback, and IO feedback agree with the real equipment.
  • PLC Build passes, and task intervals, Tag addresses, and POU behavior match the design.
  • Vision gives explainable results on unseen and boundary samples, and never presents a failure as OK.
  • Every Safety interlock enters the expected output state for its input and recovers according to the approved plan.

Common issues​

An Object type is missing or marked in red​

Check whether custom code or PLC Build succeeded and whether the required plugin or module is enabled. Do not substitute a similar type as a temporary workaround.

I saved motion configuration, but the running app did not change​

Device and interlock configuration does not replace a running instance. Stop the app, then Run, Debug, or Connect again.

The PLC root is empty​

Confirm that PLC module is enabled and saved, then open the PLC root context menu and select Initialize PLC.

I want production to continue while Vision is offline​

Do not treat a simulated image or previous result as the current inspection. Restore the camera, Runtime target, and Vision service, then validate again.

Safety cannot select the expected point​

Confirm that Motion module, the Pulsar bus object, and the related axis or IO point are configured and saved.

How AI can help​

In AI Command Center, use @ to select the relevant device or workflow Skill and reference the current configuration. For example:

Inspect the current Pulsar axis, IO, and Safety configuration. Perform a read-only review organized as missing configuration, unit or range risks, interlock coverage gaps, and verification steps. Do not connect to hardware or issue motion or IO commands.

AI is useful for organizing point tables, drafting configuration, checking references, and extending test cases. AI can also produce candidate Vision algorithm versions, but every candidate still requires sample and site acceptance.

What a person must confirm​

  • Protocols, addresses, units, ranges, axis direction, limits, and homing parameters.
  • PLC Tag addresses, task intervals, writes, and failure branches.
  • Vision sample coverage, false-positive and false-negative costs, and production-version approval.
  • Test conditions, site supervision, and recovery plans for every real motion and output.
  • Safety risk analysis, hardware safety circuits, and final interlock acceptance. AI cannot approve a safety design.