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ID : 5938
GetHandIO
Function
Set the hand IO of the slave robot.
This option is available in Ver.1.9.* or higher.
Syntax
[Robot*.]GetHandIO (Start number[, Range])
Guaranteed Entry
- Start number
- Specify the smallest IO number that expresses the hand IO of the slave robot. Available range for input and output are from 48 to 55 and from 64 to 71, respectively.
- Range
- Specify the setting range by integer type data. Available range is from 1 to 8. This is omittable. This should be "1" if it is omitted.
Return Value
Return the status of specified Hand IO by integer type data. A bit array is returned.
Description
Obtain the status of Hand IO that ranges from the start number to the specified range on the slave robot by a bit-array.
Related Terms
Attention
- Hand IO for the master robot can be set as well.
- If the specified IO includes an IO that is out of Hand-IO area, an error occurs.
Example
I0 = Robot1.GetHandIO(70, 4)Because this example specifies IO numbers larger than 71 that is the largest number for Hand-output, an error occurs.
Example
I0 = Robot1.GetHandIO(64,3) 'Obtain the status of Hand IO 64 to 66 of Robot1.
I1 = Robot1.GetHandIO(64) 'Obtain the status of HandIO64 of Robot1.ID : 5938