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ID : 7643

MC_WriteDOBit

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

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]
IoBitNo Integer
  • Hand I/O : 0 to 7
  • Mini I/O : 0 to 15
 0 Yes
Bit number of I/O
Specify an I/O bit number.
For details, refer to Function description.
Value Boolean
  • TRUE : 1
  • FALSE : 0
 FALSE Yes
Output value
[TRUE : 1]
[FALSE : 0]

(*) : 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 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

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

ID : 7643

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