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ID : 7648

MC_ReadDOByte

To read an I/O output signal status 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 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.

(*) : 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".
Value Byte
Output value
A value ranging from 0 to 255 is output

Function Description

This function block reads an I/O output 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 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 : 7648

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