6.ADDRESS ASSIGNMENT TO POINTS OPERATION B-82604EN/01
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When the above setting is made, the %R-to-position-register
correspondence is as follows:
PLC address Robot controller data that can be read and written
%R1-2 32-bit signed integer of X of PR[1]
%R3-4 32-bit signed integer of Y of PR[1]
%R5-6 32-bit signed integer of Z of PR[1]
%R51-52 32-bit signed integer of X of PR[2]
%R53-54 32-bit signed integer of Y of PR[2]
%R55-56 32-bit signed integer of Z of PR[2]
%R101-102 32-bit signed integer of X of PR[3]
%R103-104 32-bit signed integer of Y of PR[3]
%R105-106 32-bit signed integer of Z of PR[3]
Eighteen %R’s are actually read from and written to. With the above
setting, however, 150 %R’s are occupied. Also, CIMPLICITY
attempts to read partial data not actually used such as %R7 to %R50.
This is because reading a large amount of data at one time makes
communications more efficient than reading small amounts of data
severak times. When the position register is in the Cartesian
coordinate format, however, data format conversion must be
performed for the part from %R27 to %R45 which is joint data. This
deteriorates the communication response time.
For efficient communication, set $SNPX_ASG as follows:
$ADDRESS $SIZE $VAR_NAME $MULTIPLY
$SNPX_ASG[1] 1 18 PR[1]@1.6 1
When the above setting is made, the %R-to-position-register
correspondence is as follows:
PLC address Robot controller data that can be read and written
%R1-2 32-bit signed integer of X of PR[1]
%R3-4 32-bit signed integer of Y of PR[1]
%R5-6 32-bit signed integer of Z of PR[1]
%R7-8 32-bit signed integer of X of PR[2]
%R9-10 32-bit signed integer of Y of PR[2]
%R11-12 32-bit signed integer of Z of PR[2]
%R13-14 32-bit signed integer of X of PR[3]
%R15-16 32-bit signed integer of Y of PR[3]
%R17-18 32-bit signed integer of Z of PR[3]
The modification to the settings include addition of @1.6 after PR[1]
of $VAR_NAME and change of the value in $SIZE from 150 to 18.
As a result of these modifications, the number of %R’s used by one
position register, which is normally 50, has decreased to 6. That is,
the value “6” at the end of “@1.6” specifies the number of %R’s used
by one position register. The value “1” in “@1.6” specifies the
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