A-41
168542-1CD
168542-1CD
MLX200 Software and
Operations
Appendix A
A.1 MLX200 Add-on Instructions
A.1.32 MLxWriteDigitalOutputs
The MLxWriteDigitalOutputs instruction is used to write digital outputs that
have been wired into a servo drive. When this AOI is called, the IO1-IO4
values will map to digital outputs defined for the servo drive type. For
example, on a Yaskawa SigmaV drive IO1=SO1, IO2=SO2, IO3=SO3 and
IO4 is unused.
Fig. A-32: MLxWriteDigitalOutputs lnstruction
Table A-32: MLxWriteDigitalOutputs Instruction
Name Data Type Usage Description
RobotNumber DINT Input Robot to read digital inputs from Range is
0-numberO Robots
AxisNumber DINT Input Robot to read digital inputs from Range is
0-Robot[]. ConfigurationDataNumberOfAxes
IO1 BOOL Input Mapped to SI0 on Yaskawa Sigma
V-drives.
IO2 BOOL Input Mapped to SI1 on Yaskawa Sigma
V-drives.
IO3 BOOL Input Mapped to SI2 on Yaskawa Sigma
V-drives.
IO4 BOOL Input Unused
MLX MLxData InOut Control Module-scope DataStructure Containing
information for MLX system.
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