RC8 Series

^*1Read / write in word units.
Writing data to the External Device involves defined structural units. The Display reads the structural unit from the External Device, changes the targeted word data only, then writes the data back to the External Device. When the write operation occurs on the External Device to the word address during the read/write process, the resulting data may be incorrect.

^*2The address structure of Variable V is as follows.

^*3The address structure of  Variable P is as follows.

^*4The address structure of  Variable J is as follows.

^*5The address structure of Variable T is as follows.

^*6You can write up to 254 single-byte characters to the S device.

^*7The IO device range is the range normally accessible by the External Device.
When you add an expansion board to the External Device, add the number of points on the expansion board  to the accessible range.
Read takes place when the IO status is either 0 (OFF) or -1 (ON). IO changes when you write either 0 (OFF) or 1 (ON) to IO. When you write a value other than 0 or 1, uses the value written to the least significant bit.

^*8This device is treated as a 64-bit double-precision floating-point number on the External Device. However, the Display processes this device as a 32-bit single-precision floating-point number.

^*9The address structure of  TOOL settings is as follows.

^*10The address structure of WORK settings is as follows.

^*11The address structure of AREA settings is as follows.

^*12Write disabled.

^*13The address structure of Special register 1 Controller is as follows.

^*14Stores the error code of the External Device's latest error.

^*15Stores the error message of the External Device's latest error.

^*16Stores the version of the External Device.

^*17Read disabled.

^*18You can clear errors on the External Device by writing a value.

^*19The address structure of Current robot position is as follows.

^*20The address structure of Current robot position (each axis value) is as follows.

^*21The address structure of Current robot position expressed (T type) is as follows.

^*22The address structure of Special register 2 Robot is as follows.

^*23The address structure of Special register 3 Program is as follows.

^*24This driver executes only tasks without arguments. Before executing tasks, perform the following operations.
1. Use the Teaching Pendent to set communication and startup settings.
2. Use the Teaching Pendent to change to Auto Mode.
While executing tasks on the External Device, if you run PSTR the Teaching Pendant will display the message, "The same program is running." To prevent running two instances of PSTR, use PREG***.0 to check the task status, and then run PSTR.
Write values and operations are as follows.
1. Run 1 cycle
2. Run continuously
3. 1 Step
4. Not supported
5. Retry (available when continue stopped)
Other than above: Not supported (error will display.)

^*25Before executing tasks, use the Teaching Pendant to change the External Device to Auto Mode.
Write values and operations are as follows.
0: Stop (default)
1: Pause
2: Step stop
3. Cycle stop
4: Reset
5: Continue stopped
Other than above: Not supported (error will display.)

^*26Adjust the timeout value to use this command. The External Device will not respond until the motor operation is complete.

^*27Gets the program name (full path) string, minus the file name.

^*28Gets the program name (full path) string, minus the folder name.

^*29Using the Request to get control authority device
Device address for the arm group number. Use the device address associated with the arm group you want to set up, and run a word-write operation to initialize its value.
If another device has control authority, you cannot get access to the device.
If a timeout occurs while the Display has control authority, you need to restart the External Device as the connection is terminated without control authority.

^*30The address structure of Calculates destination coordinates TOOL coordinates is as follows.
The address where coordinates are stored depends on the DEVH100 and DEVH109 settings.

^*31Before executing tasks, use the Teaching Pendant to change the External Device to Auto Mode.

^*32Using Motion skip:
The device address shows the arm group number. Write the Motion skip algorithm setting to the same device address as the arm group you want to set up.

^*33The address structure of Move specified coordinates is as follows.
The address where coordinates are stored depends on the MOVE101 and MOVE104 settings.
Adjust the timeout value to use this device. The External Device will not respond until the move operation is complete.

^*34The address structure of Relative movement WORK coordinate is as follows.
The address where coordinates are stored depends on the DRAW101 settings.
Adjust the timeout value to use this device. The External Device will not respond until the move operation is complete.

^*35The address structure of Absolute motion each axis is as follows.
To set "Exist" for DRIVEEX109?DRIVEEX111, write values to the associated address in DRIVEEX113 ?115.
Adjust the timeout value to use this device. The External Device will not respond until the move operation is complete.

^*36Using Select area interference check is performed and Initializes interference check:
Set the area number as the data, then run word write operation.

^*37To refresh the task name, execute the task after setting up the task name in the PNAME device.

^*38Using File read (FILEREAD), File write (FILEWRITE) and File list (FILELIST):
Set the control address number as the data, then run word write operation.
You can define the control address as BUSR memory only. (BUSR00000...BUSR29000)

^*40The VARLEN device address structure is as follows.

^*41The robot name device address structure is as follows. If more than 256 chracters are stored, the Display shows up to the 256th character.

Settings for File List Device

Read and write files by setting the operating status on the control address.

You can use the BUSR area only as the control address.

You can run operations on the following file types.

• PacScript source (*.PCS)

• PacScript header (*.H)

• Operation panel source (*.PNS)

• File list

Outputs the list of files stored on the External Device.

The output list is saved to the specified address.

To run the output operation, write the control address' start address to the FILELIST device.