This string accepts a command to force DIO signals on or off, or to clear forcing. Digital inputs, digital outputs, and soft digital signals can all have their values forced. When forced, the DIO signal value is set to the forced state independent of the value that is being read by the hardware or commanded via a user program. This is a useful diagnostic tool when you are debugging a cell.

The format of the string is as follows:

   <signal>,<value>
  or
   <first_signal>,<last_signal>,0

For the first form, a single signal is affected.  <signal> is a standard DIO signal number and <value> is interpreted as follows:

    1 means force on
   -1 means force off
    0 clears any force on or off condition

For the second form, a range of signals are forced off.  <first_signal> and <last_signal> are standard DIO signal numbers that specify the range. Uninstalled or invalid signals within the range are ignored.  For example, to clear all non-soft signals, specify "1, 19999, 0".

This parameter returns the current state of a bank of 96 general digital output signals or a single signal.

The database unit number specifies which bank of signals to access and should be set to:
     1 + bank + 1000*node

Bank 0 contains the general digital outputs on the local (master) controller and any of its networked slave controllers.   Node 0 or 1 refers to the local (master) controller.  Nodes > 1 refer to networked slave controllers.  Banks > 0 contain Remote I/O module digital outputs.  For Remote I/O modules, the node must always be 0.

The values returned correspond to signals:
     1 + 100*bank + 100000*node
   through
     96 + 100*bank. + 100000*node

Each returned value is interpreted as bit flags that are defined as follows:

    &H01 The signal is ON
    &H02 The signal is configured, i.e. this is a valid DOUT
    &H04 The signal is currently forced ON
    &H08 The signal is currently forced OFF

For example, if the 13th number has a value of &H0A, this would imply that channel 13 was configured as a digital output signal and its value was currently being forced OFF.

This parameter returns the current state of a bank of 96 general digital input signals or a single signal.

The database unit number specifies which bank of signals to access and should be set to:
     1 + bank + 1000*node

Bank 0 contains the general digital inputs on the local (master) controller and any of its networked slave controllers.   Node 0 or 1 refers to the local (master) controller.  Nodes > 1 refer to networked slave controllers.  Banks > 0 contain Remote I/O module digital inputs.  For Remote I/O modules, the node must always be 0.

The values returned correspond to signals:
     10001 + 100*bank + 100000*node
   through
     10096 + 100*bank. + 100000*node

Please see the description for the "General DIO outputs" (DataID 501) for how to interpret the values returned by this parameter.

This parameter returns the current state of a bank of 96 dedicated digital output signals or a single signal.

The database unit number specifies which bank of signals to access and should be set to:
     1 + bank

Bank 0 contains the controller related digital outputs.  Banks > 0 contain axis-related digital outputs.   Access to Remote I/O boards is not supported.

The values returned correspond to signals:
     8001 + 100*bank
  through
     8096 + 100*bank.

Please see the description for the "General DIO outputs" (DataID 501) for how to interpret the values returned by this parameter.

This parameter returns the current state of a bank of 96 dedicated digital input signals or a single signal.

The database unit number specifies which bank of signals to access and should be set to:
     1 + bank

Bank 0 contains the controller related digital inputs.  Banks > 0 contain axis-related digital inputs.   Access to Remote I/O boards is not supported.

The values returned correspond to signals:
     18001 + 100*bank
  through
     18096 + 100*bank.

Please see the description for the "General DIO outputs" (DataID 501) for how to interpret the values returned by this parameter.

The number of hardware latches present on the local controller. The first n general digital inputs use these latches starting with input signal number 10001.

An array of statistics related to encoder latching. The elements are as follows:

   1: The number of latch results detected locally by hardware or software.
   2: The number of latch results queued to a master or a robot.
   3: The number of latch results ignored because they were not assigned to any robot.
   4: The number of failures to read encoder positions after a latch result was detected.
   5: The number of overflows for the latch result input FIFO.
   6: The number of overflows for the latch result output robot queue.

An array of bit masks showing the local DIO hardware available on the local controller. A bit that is set means that the corresponding DIO point is available. The array elements are organized as follows:

1: Input signals 10001 - 10032
2: Output signals 1 - 32.

  DAC out = (command - offset) * scale factor

  output = (ADC reading * scale factor) + offset

This is an array of scale factors, one per channel, that are applied to the General AIO out values to convert them to DAC units. Please see "General AIO outputs" (DataID 511) for a description of the transformation equation.

This is an array of offsets, one per channel, that are applied to the General AIO out values to convert them to DAC units. Please see "General AIO outputs" (DataID 511) for a description of the transformation equation.

This is an array of minimum values, one per channel, in user units that are applied to the "General AIO output" (DataID 511) commands to ensure the values are within a specified range. If a commanded value is outside of the range, it is set to this limit prior to conversion to DAC units.

This is an array of maximum values, one per channel, in user units that are applied to the "General AIO output" (DataID 511) commands to ensure the values are within a specified range. If a commanded value is outside of the range, it is set to this limit prior to conversion to DAC units.

This is an array of scale factors, one per channel, that are applied to the General AIO input values to convert them to from raw ADC units. Please see "General AIO inputs" (DataID 512) for a description of the transformation equation.

This is an array of offsets, one per channel, that are applied to the General AIO input values to convert them to from raw ADC units. Please see "General AIO inputs" (DataID 512) for a description of the transformation equation.

This is an array of minimum values, one per channel, in user units that are applied to the "General AIO input" (DataID 512) transformed values to ensure that they are within a specified range. If a converted value is outside of the range, it is set to this limit.

This is an array of maximum values, one per channel, in user units that are applied to the "General AIO input" (DataID 512) transformed values to ensure that they are within a specified range. If a converted value is outside of the range, it is set to this limit.

For newer controllers that support software DIO configuration, this parameter sets and displays whether local digital output signals operate in sinking or sourcing mode. Each output signal's mode can be individually set. The output is sinking if its corresponding element is 1, otherwise a value of 0 indicates sourcing. By default, all local outputs (GPL signals 13-20) are set to sinking.

For newer controllers that support software DIO configuration, this parameter sets and displays whether local digital input signals operate in sinking or sourcing mode. The input signals are set in groups of four. A group of inputs are sinking if their corresponding element is 1, otherwise a value of 0 indicates sourcing. By default, all local inputs (GPL signals 10001-10012) are set to sourcing.

This is an array of strings that is provided as a documentation aid for generating DIO web pages. Rather than hard coding the names of DOUT signals into a HTML form, the names can be stored in this array. These names can then be automatically included in dynamic, ASP web pages. If the usage of the DOUT signals are later changed, the values in this array can be modified and the displayed contents on a web page will be updated without changing the HTML source code.

This is an array of strings that is provided as a documentation aid for generating DIO web pages. Rather than hard coding the names of DIN signals into a HTML form, the names can be stored in this array. These names can then be automatically included in dynamic, ASP web pages. If the usage of the DIN signals are later changed, the values in this array can be modified and the displayed contents on a web page will be updated without changing the HTML source code.

An array of strings provided as a documentation aid for generating DIO web pages using the ZIO outputs. See "General DOUT labels" (DataId 541) for details.