Reading a digital output

Description

The function block KRC_ReadDigitalOutput polls and reads a digital output of the robot controller.

Parameter	Type	Description
AxisGroupIdx	INT	Index of axis group 1 … 5
ExecuteCmd	BOOL	The statement is executed in the case of a rising edge of the signal.
Number	INT	Number of the digital output (corresponds to $OUT[1 … 2048] on the robot controller) 1 … 2048

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.

Number

INT

Number of the digital output (corresponds to $OUT[1 … 2048] on the robot controller)

Parameter	Type	Description
Done	BOOL	TRUE = statement has been executed
Value	BOOL	Value of the digital output
Error	BOOL	TRUE = error in function block
ErrorID	DINT	Error number