Check DI

Function

Detect the signal value of the specified DI port of the robot.

Parameter Description

General Parameters of Non-Move Steps

Skip Execution

None

Default setting. Do not skip the current Step.

Simulation only

Skip the current Step during simulation. The exit port is specified by Out Port When Skip.

Always

Skip the current Step when the project is simulating or running. The exit port is specified by Out Port When Skip.

Instruction

When Simulation only or Always is selected, the current Step will be skipped and the subsequent Step will be executed when running the project. If this parameter is set to None in “Check DI” Step in the project, and there is no external input signal during simulation, the project will be stopped when executing to this Step. In this case, setting the parameter to Simulation only or Always enables the simulation to continue.

Out Port When Skip

This parameter will take effect when Skip Execution is set to Simulation only or Always. It specifies the exit port when skipping a Step.

  • As the output port of this Step is 0 or 1, the Out Port When Skip parameter can only be set to 0 or 1.

  • If the Skip Execution parameter is set to None, a random DI value will be provided, and the output port of this Step is random.

DI Port

Default value

0

Instruction

Set the DI Port according to the actual wiring of the robot. Check the status of DI1 if the parameter is set to 1, and check the status of DI2 if it is set to 2.

Pre Plan Out Port

Default value

−1

Value list

−1, 0, 1

Instruction

If there is a dependency between the Steps before and after Check DI, the overall motion planning of the robot will be interrupted when the Check DI Step is executed. Thus, joint planning cannot be achieved.

*The setting of this parameter can mandate that the signal must be output from the specified port (0 or 1), and the overall planning will not be interrupted. *

When this parameter is set to −1 (default), this Step will be executed to check the current DI signal and interrupt the overall planning.

cdi  1

When it is set to 0, the signal will be output from Port 0, and joint planning can be achieved together with the Steps before and after the Check DI Step. As a result, the overall motion of the robot will be much smoother.

cdi 0

When it is set to 1, the signal will be output from Port 1, and joint planning can be achieved together with the Steps before and after the Check DI Step. As a result, the overall motion of the robot will be much smoother.

cdi 1