SetOutputState#

This queued command is used to control the digital outputs of the MVK01 vacuum and I/O module.

Syntax#

SetOutputState(bid,p1,p2,p3,p4,p5,p6,p7,p8)

Arguments#

  • bid: I/O bank ID, currently 1 (for MVK01);

  • pi: state of output pin i (i = 1, 2, …, 8), 1 to set, 0 to reset, and −1 or * to keep unchanged.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the SetOutputState command is represented by MotionCommandID 34. See Section 4.2 for more details.