CtrlPref Function
Acquires the controller environment setting information for the Epson RC+ system settings.
Syntax
CtrlPref (index)
Parameters
- index
- Specify the index of the information to be retrieved as an integer value.
| Index | Description |
|---|---|
| 0 | Reset to turn off the output port |
| 1 | Outputs OFF during Emergency Stop |
| 2 | Allow movement commands when the joints are not excited |
| 3 | Walk execution stopped by I/O output command |
| 4 | Dry run |
| 5 | Virtual I/O mode |
| 6 | Also save the project when saving the controller state |
| 7 | Interrupt all tasks at safeguard open |
| 8 | Automatic return to the position at safeguard open |
| 9 | Start without waiting for Windows to start |
| 10 | Initialize global variables when the main function (MainXX) starts |
| 11 | Enable background task |
| 12 | Enable the advanced task control commands |
| 13 | Connect CP motion and PTP motion in CP On |
| 14 | Enable automatic LJM when the controller starts |
| 15 | Disable LJM in TEACH mode |
| 16 | Disable the point flag check |
| 17 | Motor Off when enable switch is turned off in Teach mode |
| 18 | Enable parts wear management |
| 19 | Low power when ForcePowerLow signal is OFF |
| 20 | Pause task when ForcePowerLow signal changes |
| 21 | Prohibit T2 mode execution |
| 22 | Disable Ethernet connection authentication |
| 23 | Prohibit the Epson RC+ Express Edition connection |
| 24 | Apply XYLim to trajectory and pulse motion |
| 25 | Number of RC+ API tasks |
Return Value
index = 25: Integer value representing the number of RC+API tasks
Otherwise: 0 = disabled, 1 = enabled
Description
Use this command to acquire the setting value of [System Configuration]-[Controller]-[Preferences] in the Epson RC+ setup menu.
See Also
CtrlInfo Function
CtrlPref Function Example
Integer i
For i = 0 To 15
Print "i = " + Str$(i) + ": " + Str$(CtrlPref(i))
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