ID : 3217

MC_ReadDOBit

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

Graphic expression	FB No.	FB category
	FB2139	Non motion

Input parameter

Parameter name	Data type	Valid range	Default	Omission (*)
AxesGroup	Integer	1 or larger	1	No
AxesGroup	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
Execute	Execution start When the parameter is changed from False to True, this FB is executed.
IoType	Integer	0, 1	0	No
IoType	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	No
IoBitNo	Bit number of I/O Specify an I/O bit number. For details, refer to Function description.

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

Parameter name	Data type / Description
Done	Boolean
Done	Execution completion confirmation True : This FB execution is completed. False : This FB execution is not completed.
Busy	Boolean
Busy	Processing status of this FB True : Being executed. False : Not being executed.
Error	Boolean
Error	Error presence True : This FB ended abnormally. False : This FB ended successfully.
ErrorID	Word
ErrorID	Error location 2800 (hexadecimal) : The error occurred in the PLC program. 2801 (hexadecimal) : The error occurred in the robot controller.
ErrorIDEx	DWord
ErrorIDEx	Error Code This is a number to identify the error description. For details, refer to "Error code list".
Value	Boolean
Value	Output value True : 1 False : 0

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 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

ID : 3217