Festo CMXR-C1, Описание

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6. Communication variables
Festo GDCP-CMXR-F-EN 0909a 39
6. Communication variables
The robot operating system provides globally visible variables for all robot programs for
the free exchange of data with an external control system:
Position variables (Cartesian positions and axis positions)
Reference system variables
Word variables
These variables can be described and read externally via every installed PLC interface
(not MCP1-EA).
In the robot program, the communication variables are directly visible with predefined
names.
6.1 Position variables
6.1.1 Access from the robot program
The interface includes 256 Cartesian and 256 axis positions respectively. They are
predefined as follows:
plc_CartPos [0 ... 255]: CARTPOS
plc_AxisPos [0 ... 255]: AXISPOS
The data types CARTPOS and AXISPOS are standard data types for representing positions.
Example: Use in the robot program:
Ptp (plc_CartPos [0] )
Lin (plc_AxisPos [0] )
6.1.2 Interface format
In the PLC interface, the position and angle values are transferred in integer form.
The conversion to flow point form is done via a configurable factor (posResolution).
Format of Cartesian position in the interface (CARTPOSREG type):
Variable Meaning
x, y, z: DINT Position of the tool
a, b, c: DINT Orientation of the tool
aux1 ... 3: DINT Position of the auxiliary axes