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dio_read_input

Skill class for ai.intrinsic.dio_read_input skill.

The dio_read_input skill is used to read digital values from a Digital Input/Output device. The skill user specifies one or more digital inputs to read when the skill is executed. The list of requested digital inputs will be returned as a list of booleans in the output parameter of the skill.

note

It is possible that the values have changed by the time the skill output is available if asynchronous calls are made from other parts of the system.

Prerequisites​

  • A real-time control service that controls the digital inputs.

  • The skill user must know the Block name of the relevant digital inputs to read. The Block name can be found in the I/O Mapping Panel of the realtime_control_service.

Usage Example​

  1. Choose the desired Adio device from the list of available hardware devices. When the digital input is provided by a robot control box or EtherCAT, this is usually named robot_controller.

  2. Specify the Block name, which is the name of the Digital Input/Output block from which values will be read.

  3. (Optional) Specify the duration to wait to read the digital input. After this time has elapsed a timeout error will be created.

Parameters​

block_name​

Specifies the name of the DIO (Digital Input/Output) block from which values will be read. You can look up the list of block names, indices, and current values of digital inputs in the Services panel, on the settings page of the real-time control or robot control service, in the 'I/O mapping' window.

timeout​

If the DIOs could not be read within this duration, the skill will create a timeout error. Defaults to 5 seconds.

robot_name​

Name of the robot. Deprecated. Do not use. Value will be ignored.

part_name​

Name of the ADIO part. Deprecated. If set, this value will override the ADIO part name contained in the ADIO parameter.

Capabilities​

adio​

Resource with capability Icon2AdioPart

Returns​

values​

All signal values of the specified block from the input parameters. The list contains all digital inputs available in the selected block. The list is ordered by index. You can look up the order and current values in the Services panel, on the settings page of the real-time control or robot control service, in the 'I/O mapping' window.

Error Code​

The skill does not have error codes yet