Caddrslt - Omron SCARA YRCX Series User Manual

<Coordinate data>
Specifies the position data saved in the queue element by using the coordinate data.
Either a point number or a function using the point data as a return value (ex. VGETPOS) must be specified for the
coordinate data. The data must be use a [mm] unit.
<Judgment area distance>
Specifies the distance for judging double-registration of the queue elements in the position monitoring queue using a real
number (unit: mm).
This distance can also be specified by a variable.
The option parameter "Tracking CADDQUE Distance" value is adopted if this setting is omitted.
If a value of 0 or less is specified, both this value and the option parameter "Tracking CADDQUE Distance" value are
invalidated and the judgment of double-registration will not be carried out.
<Tag>
Specifies the tag for a queue element added to the position monitoring queue.
A value between -128 and 127 can be specified. If omitted or if a value not between -128 and 127 is set, 0 will be
specified.
NOTE
The tag specified here can be obtained with the CGETTAG function. The process can be divided, etc., depending
on the specified tag.
<Target robot number>
This number specifies the robot that works for the queue elements to be added to the position monitoring queue.
The specified robot position data will be stored in the queue elements. Maximum 4 robots can be specified as the target
robot number.
If omitted, all the existed robot will be the target. If the specified robot has not performed calibration, the robot position
data will not be stored. When no position data is stored for the queue elements, an alarm occurs.
NOTE
Commands such as "CCHKQUE" is executed by specifying robot number. The command target are the only
queue elements that has specified robot position data and is called "target queue element" among the position
monitoring queue elements.
7.3.4

CADDRSLT

l Function
CADDRSLT
CADDRSLT(counter number)
Confirms the results of the CADDQUE command/CADDQUEV command.
Description
This function confirms the results of the CADDQAUE command or the CADDQUEV command.
The results of the CADDQUE command or CADDQUEV command executed last for the conveyor position monitoring
queue specified with the counter number are confirmed.
This function's return values are as follows:
0 ..... A queue element was added
1 ..... Since the maximum number of queue elements in the position monitoring queue was exceeded, the queue
element was not added.
2 ..... Since a double-registration was identified, the queue element was not added.
Explanation
<Counter number>
Specifies the conveyor position monitor queue by using the counter number.
Either 1 or 2 can be specified. This can also be specified by a variable.
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