SELECT real-valued function
Syntax
SELECT (device_type, mode)
Function
Return the unit number that is currently
selected by the current task for the device named.
Parameters
|
device_type
|
Keyword that identifies the type of device
that is to be selected. Valid device types are ROBOT, VISION, and FORCE
(which must be specified without quotation marks). The device-type
keyword can be abbreviated.
|
|
mode
|
Optional real value, variable, or
expression (interpreted as an integer) that specifies the mode for the
function. If this parameter is omitted or has the value 0, the function
returns the number of the unit currently selected, or 0 if no unit is
selected. If
mode has the value -1, the function returns the total number of
units available for the specified device.
|
Details
This function returns either the number of
the specified device that is currently selected, or the total number of
devices connected to the system controller. Multiple devices of the same type
are supported only if your system includes the optional V+ Extensions
software.
If the V+ system is not configured to
control a robot, the selected robot is always #1, and the total number of
robots is zero.
SELECT(ROBOT) returns the number of the
currently selected robot. SELECT(ROBOT,-1)
returns the maximum robot number in a V+ system. SELECT(VISION) returns the
number of the currently selected vision system. SELECT(FORCE) returns the
number of the currently selected force sensor.
A particular FORCE sensor is associated
with one VFI (VME Force Interface), which in turn has a number associated with
it through the system configuration. With the default configuration, FORCE
sensor number 1 corresponds to the VFI configured as servo board number 8.
SELECT VISION
In a system with multiple vision systems,
this instruction selects the vision system with which the current task is to
communicate. (The SELECT monitor command specifies which vision system the V+
monitor is to access.) This program instruction specifies which vision system
receives vision instructions (for example, ENABLE VISION) and also which
system returns vision-related information (for example, from the VSTATUS
function).
Vision system #1 is automatically selected
each time a program begins execution.
You can use the following modes for a SELECT(VISION,mode) function.
| Mode
|
Description
|
| -1 |
Returns the maximum possible vision system number. |
| 0 |
Returns the number of the currently selected vision system or zero. |
| n > 0
|
Returns TRUE if vision system n is present. Otherwise, the value FALSE is returned.
|
Examples
Return the unit number of the robot selected for the current task:
our.robot = SELECT(ROBOT)
Return the unit number of the force sensor selected for the
current task:
our.force = SELECT(FORCE)
Return the total number of robots connected to the
controller:
num.robots = SELECT(ROBOT,-1)
Return the total number of vision systems installed in the
controller:
num.vision = SELECT(VISION,-1)
Related Keywords
SELECT monitor command
SELECT program instruction
