Chapter 10 Application Programmer’s Interface
10-16 ER1 User Guide
Input Digital
Format:
input digital
If the robot is properly connected, the response is:
OK <hex number>
Example:
OK ff
Each input port is represented as one bit of the result code, where digital input (DI) 0 is
the least significant bit and DI 7 is the most significant bit, so
ff indicates that all the
inputs are high. OK fe would mean that all but input 0 was high.
Output Digital
This command sets the digital outputs (DO) to the 8 bit value represented by
<hex number>. Note that digital output (DO) 0 is the least significant bit and DO 7 is the
most significant bit.
Format:
output digital <hex number>
Example:
output digital 80
This example sets digital output 7 high and all the others low.
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