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ID : 3215

MC_WriteDOByte

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

Graphic expression FB No. FB category
FB2137 Non motion

Input parameter

Parameter name Data type Valid range Default Omission (*)
AxesGroup Integer 1 or larger 1 No
Robot number
Specify an element number for the variable "Robots[n]" (variable in the data block "DB_DENSO_ROBOTS (DB2990)") mapped to the controlled robot (robot controller).
If a specified value exceeds the valid range, the CPU (PLC) stops.

The maximum valid range value is the maximum element number of the variable "Robots[n]". The default maximum element number is 10 but can be increased or decreased by the user.
Execute Boolean
  • True : Start
  • False : -
 False No
Execution start
When the parameter is changed from False to True, this FB is executed.
IoType Integer 0, 1 0 No
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 No
Byte number of I/O
Specify an I/O byte number. 
For details, refer to Function description.
Value Byte 0 to 255 0 No
Output value
Specify a value between 0 to 255.

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

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

Output parameter

Parameter 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

This function block is available only when the I/O allocation of Mini I/O is "All user I/O".

ID : 3215

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