10.3.6. Shift CFG information
10.3.6. Shift CFG information
Table 10‑7 Configuration of the shift CFG element value
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.
Table 10‑8 Shift member
Member | Meaning | Scope or unit | Example |
X, Y, Z | Cartesian position | mm | R9.X=V200!*1000 IF R3.Z<0 THEN *ERR (Accessible only in the Cartesian coordinate system) |
RX, RY, RZ | Cartesian angle | deg. | R9.RY=V210! IF R3.RZ=0 THEN 100 (Accessible only in the Cartesian coordinate system) |
J1~J16 | Axial value | mm or deg. | PRINT #0,”R1=”;R20.J6 (Accessible only in the axial coordinate system) |
CFG | Robot shape | bit-field (14bit) | R9.CFG=&H0001 (See the Shift Configuration Table.) |
CFG.CRD | Type of coordinate system | bit-field | R9.CFG.CRD=1 (This sets the coordinate system of Parameter P9 as the robot coordinate system. When the type of coordinate system is changed, coordination system conversion will be carried out..) |
CFG.UCRD | User coordinate system number | 0~10 | R9.CFG.UCRD=1 |
CFG.REQ | Whether online shift data were requested | 0~3 | R1.CFG.REQ=1 (This sets that online shift data were requested through Serial Port 1.) |
CFG.ASSIGN | Whether online shift data were received | 0: Not received 1: Received | R1.CFG.ASSIGN=1 (This sets that online shift data were received through Serial Port 1.) |
NJ | Number of axes | 0~16 | Number of the effective axes of the shift parameter |
EXIST | Existence of parameter (read-only) | 1: Yes 0: No | IF R35.EXIST=0 THEN *NO_SFT (If Parameter R35 is not defined, it branches to *NO_SFT.) |