Reading multiple digital inputs
Description
The function block KRC_ReadDigitalInputArray polls and reads multiple digital inputs of the robot controller.
Inputs
|
Parameter |
Type |
Description |
|---|---|---|
|
AxisGroupIdx |
INT |
Index of axis group
|
|
ExecuteCmd |
BOOL |
The statement is executed in the case of a rising edge of the signal. |
|
Startnumber |
INT |
Number of the 1st digital input polled (corresponds to $IN[1 … 2048] on the robot controller)
|
|
Length |
INT |
Number of inputs that are polled
Note: If the number of inputs to be read exceeds the 1 … 2048 range, no error message is generated. Inputs outside of this range are not read. |
Outputs
|
Parameter |
Type |
Description |
|---|---|---|
|
Done |
BOOL |
TRUE = statement has been executed |
|
Values |
BOOL[200] |
Values of the digital inputs |
|
Error |
BOOL |
TRUE = error in function block |
|
ErrorID |
DINT |
Error number |