10.3.4. Constant

Constant		Range	Example
Integer	Decimal	-32768~32767	2150, -440
	Binary	&B0~B1111111111111111	&B01101011, &B1000
	Hexadecimal	&H0~&HFFFF	&H3F77, &H2A
Real number with adjustable decimal point		-1.17E-38 ~ 3.4E+38	55.6, 0.5E-2
Real number with fixed decimal point		-2147483.648 ~ 2147483.647	3050.76, -2.714
String		Up to 240characters	"INPUT WORK NUMBER:", "INVALID DATA"

Constant	Coordinates System	Range	Example
Pose	Base coordinates System	Real number with fixed decimal point	(204.5, 3719.35, 277.94, 0, 50, 0,&H0001) (P* is the current pose of a robot.)
	Robot coordinates System	Real number with fixed decimal point	(204.5, 3719.35, 277.94, 0, 50, 0,&H0001)R
	Axis angle coordinates system	Real number with fixed decimal point	(0, 0, 30, 0, 0, 0, &H0001)A
	Encoder coordinates system	32bit hexadecimal number	(&H00400000,&H00400000,&H00400000, &H00400000,&H00400000,&H00400000)E
	User coordinates system (Number not designated)	Real number with fixed decimal point	(204.5, 3719.35, 277.94, 0, 50, 0, &H0001)U (The coordinates system number is that of the condition setting)
	User coordinates system	Real number with fixed decimal point	(204.5, 3719.35, 277.94, 0, 50, 0, &H0001)U4
	Axis angle coordinates system	Real number with fixed decimal point	(0, 0, 30, 0, 0, 0, &H0001)A
	Master coordinates system	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0, &H0001)M
Shift	Base coordinates system	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)
	Robot coordinates System	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)R
	Tool coordinates System	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)T
	User coordinates system (Number not designated)	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)U (The coordinates system number is that of the condition setting)
	User coordinates system	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)U4 (U4 is the number 4 of the user coordinates system)
	Master coordinates System	Real number with fixed decimal point	(0, 50, 0, 0, 0, 0)M
	Axis angle coordinates System	Real number with fixed decimal point	(0, 0, 30, 0, 0, 0)A

l There is no suffix for base coordinate but the robot coordinate uses the suffix R, axis coordinate A and user coordinate U or Un. (n is the user coordinate number, if n=0, use the User coordinates system’s designated number of condition setting

l For the base coordinate or robot coordinate, each element is (X, Y, Z, RX, RY, RZ, cfg.). If there is an additional axis, it continues after RZ. X, Y and Z is the coordinate (Unit: mm), and RX, RY and RZ is the rotating angle (Unit: degree) from respective X, Y and Z axis. cfg. (Configuration) is composed of the information setting for shape of 14 bit robot (0~&H3FFF). (Coordinates system information will be ignored from the bit components of cfg. Coordinates system will follow the suffix.)

l If there is no additional axis, it is the same whether coordinates has R or not, because base coordinates system and robot coordinates system are the same.

l If T is attached, user coordinates system is ignored even though it is already set, because only tool coordinates system is applied.

10.3.4. Constant​

10.3.4. Constant