Check DI List
Function
Check if the signal values of multiple DI ports of the robot are the same as the setting values. If all values are as expected, this Step will output from the left port, otherwise from the right port. In other words, when the values of DI ports satisfy the above-mentioned requirement, signals will be output from the All satisfied port; otherwise, they will be output from the At least one satisfied port.
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.
Pre Plan Out Port
| Default value |
−1 |
| Value list |
−1, 0, 1 |
| Instruction |
If there is dependency between the Steps before and after the Check DI List Step, the overall motion planning of the robot will be interrupted when the Check DI List 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, and the overall planning will not be interrupted.
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