[Jeremy]

Hi Nox,

I took a look at the situation and I think I found the way to activate your digital output.

The code should look a bit like this for the SetDo.

Code:

Var dionum DIO_Value;


num1 := COM_ReadNum();
num2 := COM_ReadNum();


IF num2 = 0 OR num2 = 1 THEN
DIO_Value := num2;
ENDIF

%"SetDO DO_Signal_" + NumToStr(num1) + ", DIO_Value;"%

And for the WaitDI.

Code:

%"WaitDI DI_Signal_" + NumToStr(num1) + ", DIO_Value;"%

There is still some integration to be done.
Inside your controller parameters, you need to correctly map your I/Os.
You also need to give names to your I/O that match the "DO_Signal_X" and "DI_Signal_X" found in the code.
(See data type "signalxx" from the RAPID manual :https://library.e.abb.com/public/688894b...evJ_en.pdf)

请注意,我idn't test that code, some modification may be needed.

Have a good day.
Jeremy