A16B-2200-0953

A16B-2200-0953

輸入代表程序號的第一位。值的范圍：1…4096。

示例：P_FBIT = 5 =>外部程序號以輸入5開頭。

P_LEN

此變量確定上級控制器發(fā)送的程序號中的位數(shù)。值范圍：1…16。

示例：P_LEN = 4 =>外部程序號為4位長。

自動外部輸出:

R_FBIT

輸出表示程序號的第一位。

輸出區(qū)域的大小取決于定義程序編號（P_LEN）的位數(shù)。

如果上級控制器發(fā)送的程序號未簽名或與格式P_TYPE不對應(yīng)，則R_FBIT設(shè)置為FALSE。

P_OLD

此變量指示“自動外部”模式下的后一個程序號。值范圍：1…999

BEREIT

通過設(shè)置此輸出，機器人控制器將與準(zhǔn)備就緒的上級控制器進行通信。

萬一機器人控制器出現(xiàn)錯誤，該輸出將復(fù)位，用戶可以通過KCP該錯誤。相應(yīng)的錯誤消息顯示在KCP上，例如 如果是Interbus主站錯誤或不允許的操作模式。

RK23

如果設(shè)置了工作模式T1或T2并且沒有程序在運行，則此輸出為TRUE。

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