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10.3.9. Formula

10.3.9. Formula​

 

Arithmetic formula

Integer, real number, integer variable, real number variable, input/output variable, arithmetic function, pose element, shift element and operation formula whose result is integer or real number are included.

Example: -10, 10.12, V1%, V1!, SQR(V1%), P1.X, R2.Y, (V2!+V3!)/2+&HC000, V1%+GI2, DI1+DI2*2+DI3*4, AI3<5.2

String formula

String constant, string variable, string function and operation formula whose result is string are included.

Example : "COMM ERR", "ABCD"+"EFCD", LEFT$("ROBOT INIT", 5)

Pose formula

Pose constant, pose variable and operation formula whose result is pose are included.

Example: (204.5, 37.35, 2.94, 0, 50, 0, 24)R+(0, 10, 0, 0, 0, 0)T, P1+R1