4-370 Detailed explanation of Robot Status Variable
4MELFA-BASIC V
M_UDevW/ M_UDevD
[Function]
This function is to exchange the signals directly with two or more robot CPUs in the robot controller of
CR7xx-Q series (Only CR7xx-Q series)
(Since the rudder program of the sequencer is not needed, the exchange of the signal can be executed
more speedily. And, the reference of shared memory information other than robot CPUs, such as motion
CPU, is also possible. (Page 549, "5.26 Direct communication with robot CPUs"))
M_UDevW: Reads/ Writes per word. (16 bits)
M_UDevD: Reads/ Writes per double word. (32 bits)
[Format]
[Terminology]
<Numeric Variable> Specify the numeric variable which substitutes the value of the input out-
put signal.
<Top input output number> 1 to 32, Specifies the task slot number. If this parameter is omitted, the
current slot will be used as the default.
Specify the input output signal number of the CPU unit with the constant
or the numeric variable.
(The value to specify omits the single digit low order of the top input out-
put number in the hexadecimal number.)
Range : "&H3E0" to "&H3E" in hexadecimal expression. ("992" to "995"
in the decimal number)
No. 1: &H3E0 (992 in the decimal number)
No. 2: &H3E1 (993 in the decimal number)
No. 3: &H3E2 (994 in the decimal number)
No. 4: &H3E3 (995 in the decimal number)
Note) The write function is allowed to host CPU only.
<Shared memory address> Specify the shared memory address of the CPU unit with the constant or
the numeric variable.
The useful ranges differ for each status variable. (Decimal number)
M_UDevW: 10000 to 24335
M_UDevD: 10000 to 24334
<Numeric value> Specify the data to write in with the constant or the numeric variable.
The useful ranges differ for each status variable
M_UDevW: -32768 to 32767 (&H8000 to &H7FFF)
M_UDevD: -2147483648 to 2147483647
(&H80000000 to &H7FFFFFFF)
ExampleReference
<Numeric Variable> = M_UDevW(<Top input output number>, < Shared memory address >)
<Numeric Variable> = M_UDevD(<Top input output number>, < Shared memory address >)
Writing
M_UDevW(<Top input output number>, < Shared memory address >) = < Numeric value >
M_UDevD(<Top input output number>, < Shared memory address >) = < Numeric value >
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