10.3.6. Shift CFG information

10.3.6. Shift CFG information

 

13~10 bit	5 bit (Reception state)	4, 3 bit (Online shift request)	2, 1, 0 bit (Shift coordinates system)
0~10 User coordinates system number	0: no reception 1: reception completed	0: OFF 1: COM 1 2: COM 2	0: base, 1: robot 2: tool	4: user 5: master 6: angle

 

l 3, 4, 5 bit are not usually used by users. However, after string shift value in register and setting 5 bit as 1 as if reception is completed, users can apply them to online shift or online coordinates conversion (SONL, TONL1 and TONL2).

 

l 4, 3 bit is used for storage of whether online shift request (SREQ) is forwarded and to which serial port the request is forwarded.

“.REQ” is provided as a member of CFG to make it easy to access this bit, For example, when R1.CFG.REQ=1 is executed, request for the online shift data is made through the serial port 1.

 

l 5 bit is used for storage of whether online shift response is received.

“.ASSIGN” is provided as a member of CFG to make it easy to access this bit. The setting will be made in a way that, for example, when R1.CFG.ASSIGN=1 is executed, it is considered that the online shift data is received through the serial port #1.

 

l 0~2 bit :

Coordinates system form of shift. This bit is used when the coordinates system data of the shift parameter within the program routine should be retrieved and used.

 “.CRD” is provided as a member of CFG to make it easy to access this bit. For example, when P1.CFG.CRD=4 is executed, the coordinate system form of P1 is set as user.

 

l 10~13 bit :

User coordinates system number of shift. When the coordinates system from of shift is user, the user coordinates system number is to be used essentially. Then, this bit needs to be used when the user coordinates system number is to be retrieved and changed.

“.UCRD” is provided as a member of CFG to make it easy to access this bit. For example, when P1.CFG.UCRD=2 is executed, the user coordinates system number is set.