5Functions set with parameters
About ROM operation/high-speed RAM operation function
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Precautions
* About variables
Variables may be changed by executing programs during the ROM operation/high-speed RAM operation;
however, the changed values will be discarded when the controller power is turned off. The following lists
the handling of variables during the ROM operation.
In the case of high-speed RAM operation and RAM operation, program external vari-
ables are maintained even after the power supply is turned off. Note, however, that
variable values are not maintained in the case of power off immediately after chang-
ing the setting value of the ROMDRV parameter.
* Changing variables during program execution
If the execution of a program is aborted during the ROM operation and "Variable Monitor" (refer to
"3.13 Operating the monitor screen"
.
) of the T/B is used, the program cannot be resumed. Although the stop
lamp stays lit, if the program is executed, the program will be executed from the first line. Be careful
because peripheral devices may interfere with the robot.
The values of variables cannot be changed by using "Variable Monitor" (refer to
.) of the T/B during the ROM operation. Program Monitor (watch function) of PC support
software can be used to change the values of variables in task slots other than the editing slot.
* About programs
The target of program editing also becomes the ROM area. The programs in the controller is placed in the
protected state (protect ON), and they cannot be canceled during the ROM operation. Once the ROM oper-
ation is switched to the RAM operation, the protect information reverts to the state set during the RAM oper-
ation.
Programs may be read during the ROM operation, but they cannot be written. Similarly, programs can nei-
ther be copied nor renamed.
* About parameters
Parameters and error log files are always saved in the RAM area regardless of switching between the ROM
operation and the RAM operation. However, the RLNG parameter (for switching the robot language, refer to
.) cannot be changed during the ROM operation.
Variable
Note1)
Note1)There are numeric value variables, character string variables, position variables and joint variables.
In ROM operation
In high-speed RAM
operation
In RAM operation
Local variable
The values of local variables are
retained during program operation;
however, they will be discarded when
switching programs by the OP or
external I/O signal, as well as when
the power is turned off. The values of
variables in the program called by the
CallP instruction will be discarded
when they return to the called pro-
gram.
The values of variables in a program
called by a CallP instruction are dis-
carded upon returning to the calling
program.
The values of variables used in
a program being executed
when the power was shut down
are discarded.
They are saved when a pro-
gram is selected or a CallP
instruction finishes.
The values of variables
are retained even after
the power is turned off.
Note2)
Note2)However, if a program is rewritten by using PC support software, the values of local variables used by
programs will be discarded.
Program external variable
The values of variables are retained
until the power is turned off. (They
will not be discarded by switching
programs. The contents of changes
will be discarded when the power is
turned off.)
The values of variables are
retained as they are even after
the power is shut down.
The values of variables
are retained even after
the power is turned off.
User-defined external vari-
able
The contents of changes are
discarded when the power is
shut down.
CAUTION
