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ID : 7457

MC_ReadDIByte

To read an I/O input signal status of robot controller. (Byte)

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]
IoByteNo Integer
  • Hand I/O : 0
  • Mini I/O : 0,1
Byte number of I/O
Specify an I/O byte number.
For details, refer to Function description.

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".
Value Integer
Input value
A value ranging from 0 to 255 is output

Function Description

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

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

  • Hand I/O
    IoByteNo Robot controller port number Robot controller I/O name
    0 48 Hand input
    49 Hand input
    50 Hand input
    51 Hand input
    52 Hand input
    53 Hand input
    54 Hand input
    55 Hand input
  • Mini I/O
    IoByteNo Robot controller port number Robot controller I/O name
    0 0 User input
    1 User input
    2 User input
    3 User input
    4 User input
    5 User input
    6 User input
    7 User input
    1 8 User input
    9 User input
    10 User input
    11 User input
    12 User input
    13 User input
    14 User input
    15 User input

Attention

-

ID : 7457

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