ID : 7458

MC_ReadDOBit

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

Graphic expression	AOI category
	Non motion

Input and Output Variable

Variable name	Data type	Valid range	Conditions for Input and Output
AxesGroup	eRC_AxesGroup		-
AxesGroup	Robot group Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Variable name	Data type	Valid range
Execute	Boolean	TRUE : Start FALSE : -
Execute	Execution start When the variable is changed from FALSE to TRUE, this AOI is executed.
IoType	Integer	0,1
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
IoBitNo	Bit number of I/O Specify an I/O bit number. For details, refer to Function description.

Variable name	Data type / Description
Done	Boolean
Done	Execution completion confirmation TRUE : This AOI execution is completed. FALSE : This AOI execution is not completed.
Busy	Boolean
Busy	Processing status of this AOI TRUE : Being executed. FALSE : Not being executed.
Error	Boolean
Error	Error presence TRUE: This AOI ended abnormally. FALSE : This AOI ended successfully.
ErrorID	Integer
ErrorID	Error location 2800 : The error occurred in the PLC program. 2801 : The error occurred in the robot controller.
ErrorIDEx	DInt
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 add-on instruction 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 : 7458