StepID Property

Application
Robot Object Robot

Description
This sets or returns the step number and step label so the user understands the task or job progression situation. The step label can be omitted and it is possible to set and return only the step number.

Immediate Execution
No

Usage
FGet Object.StepID, iVar
FGet Object.StepID, iVar, sVar$
FSet Object.StepID, iValue
FSet Object.StepID, iValue, sValue$

• Object
  Object name

• iVar
  An integer variable

• iValue
  An integer or formula defining the new value

• sVar$
  A string variable

• sValue$
  An string or formula defining the new value

Value
iValue

	Value
Minimum	0 (default)
Maximum	32767

sValue$
Up to 32 one-byte or 16 two-byte alphanumeric characters, Japanese characters, and the underscores can be used.

Detailed Explanation
This property is used to set or confirm the StepID and step label the task or job progression situation is understood.

Usage Example
This example sets and confirms the StepID in order to confirm the progress of the main process.
(Step label is omitted.)

Function Test_SetStepID(iStepID As Integer)  ' Process to set StepID
  FSet Robot.StepID, iStepID
Fend

Function Test_GetStepID  ' Process to acquire the StepID
  Integer iStepID
  FGet Robot.StepID, iStepID
  Print iStepID
Fend

Function Test_Main   ' Main process executing the force control function
  ･･･
  Move P0 FC1 CF
  Test_SetStepID(1)  ' Setting StepID=1
  ･･･
  Move P1 FC2 CF
  Test_SetStepID(2)  ' Setting StepID=2
  ・・・
  FSet FS1.Reset
  Test_SetStepID(3)  ' Setting StepID=3
  ･･･
  Move P3 FC3 CF
  Test_SetStepID(4)  ' Setting StepID=4
  ・・・
Fend

Function Test_Sub  ' Sub-process which monitors at 5 second intervals
  Do
    Test_GetStepID
    Wait(5)
  Loop
Fend

See Also
Robot Object Robot