ID real-valued function Robot and Encoder Configuration Device number 8 returns information for the currently selected robot. The acceptable values for the component parameter are the same as for a specified robot. (See the following table.) Device number 10 refers to the external encoders connected to the robot controller. The acceptable values for the component parameter are the same as for a robot. Device numbers 11, 12, ... refer to robot number 1, 2, ..., respectively, for each robot connected to the controller. That is, a device number equal to 10+ r refers to robot number r , which can range from 1 to the value returned by the function SELECT(ROBOT, -1).
The number of the robot that is currently selected can be obtained with the function SELECT (ROBOT).The acceptable values for the component parameter, and the corresponding values returned, are listed in the following table. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 283 component Result of ID (component, 4, board) 6 Bit field indicating which software modules are active on the board. Bit definitions are provided in the following table.
Mask Value Interpretation Bit # When Bit Set Decimal Hexadecimal 1 1 1 Processor is running the eV+ Operating System 2 2 2 Obsolete 3 4 4 Processor is running the Servo software 4-16 Reserved for future use (currently zero) Bit # Mask Value Interpretation When Bit Set Decimal Hexadecimal 1 1 1 Processor is running the eV+ Operating System 2 2 2 Obsolete 3 4 4 Processor is running the Servo software 4-16 Reserved for future use (currently zero) component Result of ID (component, 10+r) 1 Model designation of the robot