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

Pre Plan Out Port
Planning: The process when the software attempts to find a collision-free path that the robot can follow to reach the target position.

For Steps that may interrupt the planning (i.e. Check DI), the software cannot predict the actual exit port of these Steps during planning. Therefore, you can specify a pre plan out port, allowing the software to follow a complete planning along the branch after the specific exit port. Typically, the exit port that the Steps are most likely to take during actual runtime will be specified.

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.

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