Hi, everyone , I am a beginner of KRC4. In the P00 file, there are some codes as follow:
Code
IF (PGNO_REQ>0) THEN
$OUT[PGNO_REQ]=FALSE
ENDIF
IF (PGNO_REQ<0) THEN
$OUT[-PGNO_REQ]=TRUE
ENDIF
PGNO_REQ is used to request the higher-level controller to send a program number to the robot. and the progress is achived by the $OUT[PGNO_REQ].
What puzzles me, the PGNO_REQ is Negative or Positive? What is the implications of Negative PGNO_REQ or Positive PGNO_REQ?
Thank you in advance.