ID : 7456

MC_ReadDIBit

To read an I/O input 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		-
AxesGroup	Robot group Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Variable name	Data type	Valid range
Execute	Boolean	TRUE : Start FALSE : -
Execute	Execution start When the variable is changed from FALSE to TRUE, this AOI is executed.
IoType	Integer	0,1
IoType	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
IoBitNo	Bit number of I/O Specify an I/O bit number. For details, refer to Function description.

Variable name	Data type / Description
Done	Boolean
Done	Execution completion confirmation TRUE : This AOI execution is completed. FALSE : This AOI execution is not completed.
Busy	Boolean
Busy	Processing status of this AOI TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE: This AOI ended abnormally. FALSE : This AOI ended successfully.
ErrorID	Integer
ErrorID	Error location 2800 : The error occurred in the PLC program. 2801 : The error occurred in the robot controller.
ErrorIDEx	DInt
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".
Value	Boolean
Value	Input value TRUE : 1 FALSE : 0

This add-on instruction reads an I/O input signal of robot controller.

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	48	Hand input
1	49	Hand input
2	50	Hand input
3	51	Hand input
4	52	Hand input
5	53	Hand input
6	54	Hand input
7	55	Hand input

Mini I/O

IoBitNo	Robot controller port number	Robot controller I/O name
0	0	User input
1	1	User input
2	2	User input
3	3	User input
4	4	User input
5	5	User input
6	6	User input
7	7	User input
8	8	User input
9	9	User input
10	10	User input
11	11	User input
12	12	User input
13	13	User input
14	14	User input
15	15	User input

ID : 7456