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
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.
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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