Festo CMXR-C1, Описание

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6. Communication variables
40 Festo GDCP-CMXR-F-EN 0909a
Format of axis position in the interface (AXISPOSREG type):
Variable Meaning
a1 ... 6 : DINT Position of the basic axes
aux1 ... 3 : DINT Position of the auxiliary axes
6.2 Reference system variables
6.2.1 Access from the robot program
This interface includes 16 reference systems. They are predefined as follows:
plc_RefSys [0 ... 15] : REFSYSDATA
Example: Use in the robot program
SetRefSys (plc_RefSys [0] )
6.2.2 Interface format
In the PLC interface, the position and angle values are transferred in integer form. The
conversion is just the same as with the position values.
Format of the Cartesian position in the REFSYSDATA interface
Variable Meaning
baseRS : DINT Index of reference system, -1 = WORLD
x, y, z : DINT Position of the tool
a, b, c : DINT Orientation of the tool
Note
baseRS ≠ index current variable
A reference “to itself” is not allowed.
6.3 Word variables
6.3.1 Access from the robot program
This interface includes 255 integer variables of type DINT (4 bytes). They are predefined
as follows:
plc_Dint [0 ... 255] : DINT
Example: Use in the robot program
plc_Dint [0] := 100