Signal and rapid command

RobotStudio
1

thank you for the reply, i have take a look already
SetDO doVacuum,1; WaitDI diVacuum,1; MoveL RelTool(pPickPos,0,0,-600),v1000,z10,tGripperWObj:=wobj0; MoveJ relTool(pLeavePos,0,0,-700),v1000,z10,tGripperWObj:=wobj0; MoveL pLeavePos,v1000,fine,tGripperWObj:=wobj0; SetDO doVacuum,0; WaitDI diVacuum,0; MoveL relTool(pLeavePos,0,0,-400),v1000,z10,tGripperWObj:=wobj0;

my questions was, i dont understnad why is the diVacuum for the command?
where is the connection between this and smart comp,
my programme only work when i do it manual , but i can’t trigger it directly from rapid programme because i dont know what is the name, SetDo xxxxxx??thank you

refer from my last post. thnak you
http://forums.robotstudio.com/forum_posts.asp?TID=4106

2

SetDO is a RAPID command for setting output signals defined in the controller. Check your I/O configuration of your robot controller to see what signals are defined.
The signal can then be connected to a Smart Component in the Station Logic view. You can use the View tab of the Station Logic to get an overview of how Components are connected.