ID real-valued function *The robot option words are described in the Robot Option Words topic Force Sensing Configuration Device number 50 refers to the currently selected force sensor. Device numbers 51 through 66 refer to force sensors numbered 1 to 16, respectively. See the documentation for the SELECT program instruction for an explanation of selecting among multiple force sensors. The acceptable values for the component parameter, and the corresponding values returned, are listed below. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 285 component Result of ID (component, 10+r) 15 eSeries robot type. Possible values are:
0 = eSeries Lite/eVario 1 = eSeries Standard 2 = eSeries Pro 3 = sSeries 16 Returns the first and second parts of the robot security ID (shown as "aaaa-bbbb") below. (The value returned needs to be displayed in hexadecimal format to look the same as "aaaa-bbbb".) Security ID: aaaa-bbbb-cccc 17 Returns the third part of the robot security ID (shown as "cccc") below. (The value returned needs to be displayed in hexadecimal format to look the same as "cccc".) Security ID: aaaa-bbbb-cccc 18 Returns the number of the task currently attaching the robot.
component Result of ID (component, 50) 1 Model number of force sensor (0 if no force sensor is connected) 2 Serial number of force sensor (0 if no force sensor is connected) 3 Obsolete 4 Version number of force-sensing software 5 Option word for force system