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ID : 7831

MC_ReadDIBit

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

Graphic expression FB category
Ver.5.5 Ver.5.35
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]
IoBitNo Integer
  • Hand I/O : 0 to 7
  • Mini I/O : 0 to 15
0 No
Bit number of I/O
Specify an I/O bit 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 Boolean
Input value
TRUE : 1
FALSE : 0

Function Description

This function block reads an I/O input signal 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 48 Hand input
    1 49 Hand input
    2 50 Hand input
    3 51 Hand input
    4 52 Hand input
    5 53 Hand input
    6 54 Hand input

    7

    55 Hand input
  • Mini I/O
    IoBitNo Robot controller port number Robot controller I/O name
    0 0 User input
    1 1 User input
    2 2 User input
    3 3 User input
    4 4 User input
    5 5 User input
    6 6 User input

    7

    7 User input
    8 8 User input
    9 9 User input
    10 10 User input
    11 11 User input
    12 12 User input
    13 13 User input
    14 14 User input
    15 15 User input

Attention

-

ID : 7831

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