SIASUN GCR Series, Руководство пользователя

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portnum : It represents the serial number of the IO input port on the
control box. Its range is from 1 to 6.
1: Lock the robot lock
2: Start the program
3: Pause the program
4: Stop the program
5: Reserved
6: Reserved
Return Value:
Return 1 when the IO input port is at high level.
Return 0 when the IO input port is at low level.
Return -1 when the serial number of the IO input port is wrong.
io_v_out( int : portnum, int : val );
Function Description:
This command controls the high and low levels of the virtual IO port in
the system.
Parameters Description:
portnum : It represents the serial number of the virtual IO port. Its
range is from 1 to 100.
val : When the value is 1, the IO port is at high level. When the value is
0, the IO port is at low level. Otherwise, this command cannot change the
level of the IO port.
Return Value:
none
io_v_in( int : portnum );
Function Description:
This command reads the high and low levels of the virtual IO port in
the system. If the command returns 1, the virtual IO port is at high level. If
the command returns 0, the virtual IO port is at low level.
Parameters Description:
portnum : It represents the serial number of the virtual IO port. Its
range is from 1 to 100.
Return Value:
Return 1 when the virtual IO port is at high level.
Return 0 when the virtual IO port is at low level.
Return -1 when the serial number of the virtual IO port is wrong.
tool_io_out( int : portnum, int : val );
Function Description:
This command controls the high and low levels of the IO output port at
the end of the robot.
Parameters Description: