Set DO List

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Function

This Step is used to control multiple digital outputs at the same time. There are two application scenes:

Enable several grippers at the same time constantly, and the port number can be defined by the user directly on the interface.
This Step is used with the Check DI List and Vision Move Steps, and the corresponding DO value can be obtained from the Vision Move Step.

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.

Get DO List from “Vision Move”

You can configure the DO signal through the Depalletizing Vacuum Gripper or Array Gripper in the Vision Move Step. When the corresponding Vision Move Step is selected, this Step will use the configured parameters.