6.ADDRESS ASSIGNMENT TO POINTS OPERATION B-82604EN/01
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The functions supported in version 2 or later are listed below:
• Reading and writing the comment of registers, position registers,
and I/O’s
• Reading and writing the WDI/O and WSI/O
• Reading and writing the i/O SIM status
• Writing the plural commands at once
• CLRALM command
• Assigning I/O value to %R
• Reading and writing the KAREL variables
• Multi Connection and multiplex $SNPX_ASG
6.11.4 Multi Connection And Multiplex $SNPX_ASG
When the version is 2 or later, one robot controller can accept some
TCP/IP connections with CIMPLICITY at once. (Only one
connection can be accepted communicating by RS-232-C.)
Normally, the multi connection is disenabled. To enable the multi
connection, set the number of CIMPLICITY to
$SNPX_PARAM.$NUM_CIMP. (Setting too large value may make
the robot controller stop because of the lack of memory area.)
When the version is 2 or later, the multiplex $SNPX_ASG is
supported to accept that some CIMPLICITY set the different values to
$SNPX_ASG.
When the version is 1, CLRASG command erases the setting of
$SNPX_ASG. When the version is 2 or later, CLRASG command
creates the local $SNPX_ASG for one CIMPLICITY that writes this
command. After that, this local $SNPX_ASG is used for the
communication with this CIMPLICITY instead of the system variable
$SNPX_ASG. This local $SNPX_ASG is deleted when this
connection is disconnected.
After CLRASG command is executed, the results of SETASG
command cannot be confirmed on the system varialbe screen. When
CLRASG command is not executed, the system varialbe
$SNPX_ASG is used for SETASG command or
reading/writing %R’s.
To disenable the multiplex $SNPX_ASG, set 0 to
$SNPX_PARAM.$NUM_CIMP. (Default value is 0.)
When the number of connection is over this value, the connection that
has not communicated for the longest time is disconnected.
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