CheckDI check_di

Description

../../../../_images/CDI.png

Detect the signal value of the specified DI port of the robot. There are two output ports, if the value is 0, this task will output from left port, otherwise from right port.

Parameters

BasicNonMove

See Other General Parameters

port

DI port of the robot to be checked

prePlanOutPort

Pre-planned output port

Setting basis: the default value is -1. If the value is -1, the plan will be interrupted, that is, two relative tasks before and after this task cannot be planed together

If the plan shall not be interrupted, write 0 when the task output from left port in most cases, otherwise write 1.