B-82604EN/01 OPERATION6.ADDRESS ASSIGNMENT TO POINTS
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6.6 READING THE PROGRAM EXECUTION STATUS (%R)
The robot controller program execution status can be read through
CIMPLICITY. In the same manner as registers, set $SNPX_ASG
for %R assignment.
For assignment of the program execution status, set the elements of
$SNPX_ASG as follows:
$SNPX_ASG element Explanation
$ADDRESS Meaning: Start address of %R to be assigned
Range: 1 to 16384
$SIZE Meaning: Number of %R’s to be assigned
For one task, 18 %R’s are used.
(The number of R’s used by one task can be changed by specifying @ in
$VAR_NAME)
Range: 1 to 16384
$VAR_NAME Meaning: Character string indicating the data to be assigned
When assigning the program execution status, specify, for example, PRG[1].
The number in brackets is the task number. Unless multitasking is performed,
PRG[1] is always set.
When two tasks are executed simultaneously in a multitasking system, PRG[1]
and PRG[2] are used to read the execution statuses of these tasks. Between
the two tasks, the task assigned to PRG[1] depends on the program activating
timing and communication timing. Once the execution status of a task has
been read as PRG[1], it can be read as PRG[1] continuously until program
execution terminates.
$MULTIPLY Meaning: Multiplier
The program execution status has no data that requires the multiplier.
$MULTIPLY specifies the data format of character string data. Whenever
communicating with CIMPLICITY, set this element to 1.
Range: 1
NOTE
The program execution status is read only. Even
when a write operation is performed, nothing
occurs.
Each task uses 18 %R’s. The contents of the 18 %R’s are listed
below:
%R address Explanation
1-8 Program name Up to 16 characters
Name of a program being executed
When a subprogram is called, the name of the subprogram being
executed
9 Line number 16-bit signed integer
Line number of a program being executed
When a subprogram is called, the line number of the subprogram being
executed
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