Appendix A
A.1 MLX200 Add-on Instructions
A-40
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.31 MLxReadDigitalInputs
The MLxReadDigitalInputs instruction is used to read digital inputs that
have been wired into a servo drive. These digital inputs will need to be
wired into the hardware panel to be used. When this AOI is called, the
IO1-IO4 values will map to digital inputs defined for the servo drive type.
On a Yaskawa SigmaV drive IO1=SI0, IO2=SI1, IO3=SI2 and IO4=SI3.
Fig. A-31: MLxReadDigitalInputs lnstruction
Table A-31: MLxReadDigitalInputs Instruction
Name Data Type Usage Description
RobotNumber DINT Input Robot to read digital inputs from Range is
0-number O Robots
AxisNumber DINT Input Robot to read digital inputs from Range is
0-Robot[]. ConfigurationDataNumberOfAxes
IO1 BOOL Output Mapped to SI0 on Yaskawa Sigma
V-drives.
IO2 BOOL Output Mapped to SI1 on Yaskawa Sigma
V-drives.
IO3 BOOL Output Mapped to SI2 on Yaskawa Sigma
V-drives.
IO4 BOOL Output Mapped to SI3 on Yaskawa Sigma
V-drives.
MLX MLxData InOut Control Module-scope DataStructure Containing
information for MLXsystem.
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