6.ADDRESS ASSIGNMENT TO POINTS OPERATION B-82604EN/01
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6.8 READING AND WRITING THE COMMENT OF REGISTERS,
POSITION REGISTERS, AND I/O (%R)
The comment of robot controller registers, position registers, and I/O
can be read from and written to through CIMPLICITY. In the same
manner as registers, set $SNPX_ASG for %R assignment.
For assignment of the comment, 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 comment, 40 %R’s are used.
(The number of %R’s used by one comment 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 comment of register, specify, for example, R[C1]. The
number in brackets is the register number. When assigning the comment of
others, specify as listed below:
Register R[C1]
Position Register PR[C1]
DI DI[C1]
DO DO[C1]
RI RI[C1]
RO RO[C1]
UI UI[C1]
UO UO[C1]
SI SI[C1]
SO SO[C1]
WI WI[C1]
WO WO[C1]
WSI WSI[C1]
WSO WSO[C1]
GI GI[C1]
GO GO[C1]
AI AI[C1]
AO AO[C1]
Comments of consecutive registers such as R[2] to R[5] can be assigned at
one time. In this case, the number of the register is four and the number
of %R’s required per register is fourty, so set 160 in $SIZE and set R[C2] in
$VAR_NAME. Here, the index 2 indicates that registers are assigned
sequentially from R[2].
The number of %R’s per comment can be set to 5 by adding @1.5 to the end
of the character string. In this case, the top 10 characters in the comment are
read/written. (One %R includes 2 characters.)
Example: R[C1]@1.5
R[C1] indicates that registers that comment is read/written are assigned
sequentially from R[1].
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