<< Prev        Next >>

ID : 7644

MC_WriteDOByte

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

Graphic expression FB category
Non motion

Input and Output Variable

Variable name Data type Valid range Default Omission (*)
AxesGroup eRC_AxesGroup No
Robot Group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range Default Omission (*)
Execute Boolean
  • TRUE : Start
  • FALSE : -
 FALSE No
Execution start
When the variable is changed from FALSE to TRUE, this FB is executed.
IoType Integer 0, 1 0

Yes
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
 0 Yes
Byte number of I/O
Specify an I/O byte number.
For details, refer to Function description.
Value Byte 0 to 255 0 Yes
Output value
Specify a value between 0 to 255.

(*) : For some Variable, entries can be omitted.

  • Yes : Entry can be omitted.
  • No : Entry required always.

Output Variable

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

Function Description

This function block writes an I/O output signal of robot controller.

Robot controller's port number corresponding to the byte number will be turned ON/OFF. For example, to turn ON the port number 20 of the robot controller, specify IoType : 1, IoByteNo : 0, and Value : 32.

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 64 Hand output
    65 Hand output
    66 Hand output
    67 Hand output
    68 Hand output
    69 Hand output
    70 Hand output
    71 Hand output
  • Mini I/O
    IoByteNo Robot controller port number Robot controller I/O name
    0 16 CPU Normal
    17 User output
    18 User output
    19 User output
    20 User output
    21 User output
    22 User output
    23 User output
    1 24 User output
    25 User output
    26 User output
    27 User output
    28 User output
    29 User output
    30 User output
    31 User output

Attention

-

ID : 7644

<< Prev        Next >>