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ID : 7454

MC_WriteDOBit

To write an I/O output signal of robot controller. (Bit)

Graphic expression AOI category
Non motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
IoType Integer 0,1
Type of DIO
Specify the type of DIO.
[0：Hand I/O]
[1：Mini I/O]
IoBitNo Integer
  • Hand I/O : 0 to 7
  • Mini I/O : 0 to 15
Bit number of I/O
Specify an I/O bit number.
For details, refer to Function description.
Value Boolean
  • TRUE : 1
  • FALSE : 0
Output value
[True : 1]
[False : 0]

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

This add-on instruction writes an I/O output signal of robot controller.

Robot controller's port number corresponding to the bit number will be turned ON/OFF. For example, to turn ON the port number 20 of the robot controller, specify IoType : 1, IoBitNo : 4, and Value : TRUE.

The following tables show the correspondence between robot controller port number and bit number.

  • Hand I/O
    IoBitNo Robot controller port number Robot controller I/O name
    0 64 Hand output
    1 65 Hand output
    2 66 Hand output
    3 67 Hand output
    4 68 Hand output
    5 69 Hand output
    6 70 Hand output

    7

    		 71 Hand output
  • Mini I/O
    IoBitNo Robot controller port number Robot controller I/O name
    0 16 CPU Normal
    1 17 User output
    2 18 User output
    3 19 User output
    4 20 User output
    5 21 User output
    6 22 User output

    7

    		 23 User output
    8 24 User output
    9 25 User output
    10 26 User output
    11 27 User output
    12 28 User output
    13 29 User output
    14 30 User output
    15 31 User output

Attention

-

ID : 7454

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