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IO

The IO commands are used for reading and writing the mechanical arm's system IO states and setting related parameters.

Command Function Table​

CommandFunction
DIGet the status of a DI port
DIGroupGet the status of multiple DI ports
DOSet the status of a digital output port
DOGroupSet the status of multiple digital output ports
GetDOGet the current status of a digital output port
GetDOGroupGet the current status of multiple digital output ports
AIGet the value of an AI port
AOSet the value of an analog output port
GetAOGet the current value of an analog output port

DI​

Prototype:

DI(index)

Description:

Reads the status of a digital input port.

Required Parameter:

  • index: The number of the DI terminal.

Returns:

  • The status of the corresponding DI terminal (ON/OFF).

Example:

-- When DI1 is ON, the mechanical arm moves to point P1 in a linear motion.
if (DI(1) == ON) then
    MovL(P1)
end

DIGroup​

Prototype:

DIGroup(index1, ..., indexN)

Description:

Reads the status of multiple digital input ports.

Required Parameters:

  • index: The numbers of the DI terminals, separated by commas.

Returns:

  • The status of the corresponding DI terminals (ON/OFF), returned as an array.

Example:

-- When both DI1 and DI2 are ON, the mechanical arm moves to point P1 in a linear motion.
local digroup = DIGroup(1, 2)
if (digroup[1] & digroup[2] == ON) then
    MovL(P1)
end

DO​

Prototype:

DO(index, ON|OFF, time_ms)

Description:

Sets the status of a digital output port.

Required Parameters:

  • index: The number of the DO terminal.
  • ON|OFF: The status to set the DO port.

Optional Parameter:

  • time_ms: Duration for which the output will be active, in milliseconds, ranging from [25, 60000]. If this parameter is set, the system will automatically toggle the DO after the specified time. The toggle is asynchronous and does not block the instruction queue; the system will execute the next instruction immediately after setting the DO output.

Example:

-- Set DO1 to ON.
DO(1, ON)
-- Set DO1 to ON and automatically set it to OFF after 50ms.
DO(1, ON, 50)

DOGroup​

Prototype:

DOGroup({index1, ON|OFF}, ..., {indexN, ON|OFF})

Description:

Sets the status of multiple digital output ports.

Required Parameters:

  • index: The number of the DO terminal.
  • ON|OFF: The status to set for the DO port. Multiple groups can be set, each enclosed in braces, separated by commas.

Example:

-- Set DO1 and DO2 to ON.
DOGroup({1, ON}, {2, ON})

GetDO​

Prototype:

GetDO(index)

Description:

Gets the current status of a digital output port.

Required Parameter:

  • index: The number of the DO terminal.

Returns:

  • The status of the corresponding DO terminal (ON/OFF).

Example:

-- Get the current status of DO1.
GetDO(1)

GetDOGroup​

Prototype:

GetDOGroup(index1, ..., indexN)

Description:

Gets the current status of multiple digital output ports.

Required Parameters:

  • index: The numbers of the DO terminals, separated by commas.

Returns:

  • The status of the corresponding DO terminals (ON/OFF), returned as an array.

Example:

-- Get the current status of DO1 and DO2.
GetDOGroup(1, 2)

AI​

Prototype:

AI(index)

Description:

Reads the value of an analog input port.

Required Parameter:

  • index: The number of the AI terminal.

Returns:

  • The value of the corresponding AI terminal.

Example:

-- Read the value of AI1 and assign it to the variable test.
test = AI(1)

AO​

Prototype:

AO(index, value)

Description:

Sets the value of an analog output port.

Required Parameters:

  • index: The number of the AO terminal.
  • value: The value to set, with a voltage range of [0, 10] volts or a current range of [4, 20] mA.

Example:

-- Set the output value of AO1 to 2V.
AO(1, 2)

GetAO​

Prototype:

GetAO(index)

Description:

Gets the current value of an analog output port.

Required Parameter:

  • index: The number of the AO terminal.

Returns:

  • The current value of the corresponding AO terminal.

Example:

-- Get the current value of AO1.
GetAO(1)