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User definition variables, except local variables (variables effective only in defined point job data which are defined by the “declear” command), are defined in the customizing mode. (Refer to the operation manual “Features IV” for a description of the customizing mode.) Boolean type 1 bit variable (Holds only a value of 1 (true) or 0 (false).) Numeric type 8 bytes real type (double type) variable. String type 255 bytes variable Category Type Identifier Description Free Variable boo #mv(1 to 99) Boolean variable boo #mkv(1 to 99) Boolean variable (keeping variable) num #nv(1 to 99) Numeric variable num #nkv(1 to 99) Numeric variable (keeping variable) str #sv(1 to 99) String variable str #skv(1 to 99) String variable (keeping variable) boo #sysIn1 to 15 I/O-SYS boo #genIn1 to 18 I/O-1 boo #handIn1 to 4 I/O-H boo #sysOut1 to 14 I/O-SYS boo #genOut1 to 22 I/O-1 boo #handOut1 to 4 I/O-H boo #sysFlag(1) to #sysFlag(999) Refer to the system flag table. boo #FBZ set #FBZ : Sound buzzer. reset #FBZ : Stop buzzer. Special Variable num #downTimer1 to 10 When a value is assigned, it counts down automatically. (msec units) num #jobStartHight Start a point job from an assigned value above the set point Z coordinate. (Disabled in CP drive) boo #palletFlag(1 to 100) Pallet flag (corresponds to pallet 1 to 100) num #palletCount(1 to 100) Pallet counter (corresponds to pallet 1 to 100) num #workAdj_X(1 to 100) #workAdj_Y(1 to 100) #workAdj_Z(1 to 100) #workAdj_Rotation(1 to 100) Workpiece adjustment amount of each axis (Corresponds to workpiece adjustment 1 to 100) .. “Keeping variable” is a variable which holds its value even when the robot power is turned off. Input Variable Output Variable System Flag Buzzer (onoffBZ : Sound buzzer intermittently.) Pallet Workpiece Adjustment #workAdj_R(1 to 100) [Variables] Category Type Identifier Description Sequencer program boo #seqT(1 to 99) Set to 1 when #seqTCount reaches the given value or greater. num #seqTCount (1 to 50): Integrating Timer #seqTCount (51 to 99): Unintegrating Timer One counter can count from 0.001 to 2,147,483,647 seconds. (0.001 sec increment) boo #seqC (1 to 99) 1 when #seqCCount reaches the given value or greater. num #seqCCount (1 to 99) One counter can count from 1 to 2,147,483,657. num #point_X X coordinate value of current point num #point_Y Y coordinate value of current point num #point_Z Z coordinate value of current point num #point_R R coordinate value of current point num #point_TagCode Tag code value of current point num #P_X(1 to last point count) X coordinate value of given point num #P_Y(1 to last point count) Y coordinate value of given point num #P_Z(1 to last point count) Z coordinate value of given point num #P_R(1 to last point count) R coordinate value of given point num #P_TagCode(1 to last point count) Tag code value of given point Given point coordinates num #prog_P_X (1 to 255, 1 to last point count) X coordinate value of given program and given point. num #prog_P_Y (1 to 255, 1 to last point count) Y coordinate value of given program and given point. num #prog_P_Z (1 to 255, 1 to last point count) Z coordinate value of given program and given point. num #prog_P_R (1 to 255, 1 to last point count) R coordinate value of given program and given point. num #prog_P_TagCode (1 to 255, 1 to last point count) Tag code value of given program and given point Current point coordinates Given point coordinates Given program FUNCTION LIST Built-in functions, which are built in as robot functions, and user definition functions, which can be freely defined, can be used with this robot. User definition functions are defined in the customizing mode. (Refer to the operation manual “Features IV” for a description of the customizing mode.) x, y: Numeric value or numeric variable n, m: Numeric value made a certain digit or greater by rounding or truncation a, b: String or string variable Category Type Identifier Description Robot system num currentMainProgNumber() Main program No. currently running num currentSubProgNumber() Subprogram No. currently running num currentPointNumber() Point No. currently running num currentArmX() Current arm coordinate X, [mm] units num currentArmY() Current arm coordinate Y, [mm] units num currentArmZ() Current arm coordinate Z, [mm] units num currentArmR() Current arm coordinate R, [degree] units num NumCOM (COM Port Number) Data byte count of COM receiving port Arithmetic system num abs(x) Absolute value num max(x,y) Maximum value num min(x,y) Minimum value num degrad(x) Conversion from degree to radian (x* ./180) num raddeg(x) Conversion from radian to degree (x*180/.) num sqrt(x) Square root num sin(x) Sine num cos(x) Cosine num tan(x) Tangent num atan(x) Arc tangent num atan2(x,y) Arc tangent num int(x) Large integer that does not exceed x. Ex: int (1.3)=1, int (-1.3)=-2 num ip(x) Integer part of x. sgn (x)*int (abs(x)) (When x is a negative number, sgn (x) becomes -1 and when x is a positive number, sgn (x) becomes ...

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