ID real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 284 component Result of ID (component, 10+r) 2 Serial number of the robot 3 Number of motors configured for the robot This normally is equal to the number of configured joints (see component 7). 4 Value interpreted as bit flags for the robot joints that are enabled: bit 1 for joint 1, and so on. (The value is zero if the robot does not have joints that can be disabled selectively.
For example, this value is defined for the X/Y/Z/Theta robot but is zero for the 4/5-axis SCARA module.) 5 Robot control-module identification number 6 Obsolete 7 Number of robot joints configured for use 8 Robot option word (*) 9 Robot product-type value 10 Obsolete 11 Second robot option word (*) 12 Information on the robot module Currently, only bit 1 (mask 1) is defined. If set, this bit indicates that the specified robot is an Omron Adept robot. 13 Returns the safety level for the robot. Possible values are:
0 = No special safety level 1 = Configured as Category 1 Robot System per ISO 10218 and EN954 3 = Configured as Category 3 Robot System per ISO 10218 and EN954 14 Editable axis mask (always 0).