B-82604EN/01 OPERATION 7.APPENDIX
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$SNPX_ASG[7] 7501 100 R[C1]@1.10 1
$SNPX_ASG[8] 7601 100 PR[C1]@1.10 1
$SNPX_ASG[9] 7701 2 $mcr.$genoverride 1
And many poinst for robot controller data are registered for SNPE1 as
follow:
(“_2” and “_3” are added to the end of name of points for SNPE2 and
SNPE3, such as DI1_2.)
• I/O Signal
- DI1 to DI20 (Degital Input DI[1] to DI[20]) : As BOOL
- DO1 to DO20 (Degital Output DO[1] to DO[20]) : As BOOL
- UI1 to UI18 (UOP Input UI[1] to UI[18]) : As BOOL
- UO1 to UO20 (UOP Output UO[1] to UO[20]) : As BOOL
- SI0 to SI15 (SOP Input SI[0] to SI[15]) : As BOOL
- SO0 to SO15 (SOP Output SO[0] to SO[15]) : As BOOL
- GI1 to GI5 (Group Input GI[1] to GI[5]) : As UINT
- GO1 to GO5 (Group Output GO[1] to GO[5]) : As UINT
• Register
- R1 to R10 (R[1] to R[10]) : As DINT
- RCOMMENT1 to RCOMMENT10 (Comments of R[1] to
R[10]) : As STRING_20
• Position Register
- PR1_X, Y, Z, W, P, R to PR10_X, Y, Z, W, P, R (X, Y, Z, W, P,
R of PR[1] to PR[10]) : As REAL
- PR1_FLIP to PR10_FLIP (FLIP of PR[1] to PR[10]) : As INT
- PR1_LEFT to PR10_LEFT (LEFT of PR[1] to PR[10]) : As INT
- PR1_UP to PR10_UP (UP of PR[1] to PR[10]) : As INT
- PR1_FRONT to PR10_FRONT (FRONT of PR[1] to PR[10]) :
As INT
- PR1_T1, T2, T3 to PR10_T1, T2, T3 (TRUN4, 5, 6 of PR[1] to
PR[10]) : As INT
- PR1_J1, J2, J3, J4, J5, J6 to PR10_J1, J2, J3, J4, J5, J6 (J1 to J6
of PR[1] to PR[10]) : As REAL
- PRCOMMENT1 to PRCOMMENT10 (Comments of PR[1] to
PR[10]) : As STRING_20
• Current Position
- CUR_POS_X, Y, Z, W, P, R (X, Y, Z, W, P, R of Current
Position) : As REAL
- CUR_POS _FLIP (FLIP of Current Position) : As INT
- CUR_POS _LEFT (LEFT of Current Position) : As INT
- CUR_POS _UP (UP of Current Position) : As INT
- CUR_POS _FRONT (FRONT of Current Position) : As INT
- CUR_POS_T1, T2, T3 (TRUN4, 5, 6 of Current Position) : As
INT
- CUR_POS_J1, J2, J3, J4, J5, J6 (J1 to J6 of Current Position) :
As REAL
- CUR_POS_VALIDC (VALIDC of Current Position) : As INT
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