Skip to main content

10.3.7.1. Global Variable

10.3.7.1. Global Variable​

 

Global variable are shared by all programs.

 

Variable

Grammar

Example

Arithmetic

Integer

V1%~V600% or

V%[1]~V%[600]

V10%, V%[20], V%[50+V2%]

(Formulas should be in [ ].)

Real number

V1!~V600! or

V![1]~V![600]

V10!, V![20], V![50+V2%]

String

V1$~V999$ or

V$[1]~V$[999]

V10$, V$[20], V$[V2%]

Pose

P1~P9999 or

P[1]~P[9999]

P50, P[70], P[50+V2$] , P[20].RZ, P[10].X

(Elements (X, Y, Z, RX, RY, RZ, T1, T2,... T10, CFG) are accessible.)

Shift

R1~R9999 or

R[1]~R[9999]

R20, R[30], R[20+V2$], R[20].RZ, R[10].X

(Elements (X, Y, Z, RX, RY, RZ) are accessible.)

 

 

 

l  Pose elements and shift elements are treated as real number.

 

l  Number of pose elements T1, T2... should be the same as the number of additional axes.

 

l  As soon as controller system is initialized, all arithmetic variables, pose, shift variables become 0 and string variables are initialized to empty string. When a new cycle begins or a program is changed, they are not automatically initialized.

 

l  All variable values remain, even though the power is off.

 

l  R1~R8 are mapped to online shift register as they are. For example, assignment statements such as R2 = (shift constant) are used for No. 2 online shift register setup.