10.3.4. Constant
10.3.4. Constant
Table 10‑3 Robot language integer and real number
Constant | Range | Example | |
Integer | Short type | -32768 ~ 32767 | 2150, -440 |
Long type | –2,147,483,648 ~ 2,147,483,647 | -8174, 93126620 | |
Expressed in binary number | &B0 ~ B1111111111111111 | &B01101011, &B1000 | |
Expressed in hexadecimal number | &H0 ~ &HFFFF | &H3F77, &H2A | |
Real number | Single precision floating point | -1.17E-38 ~ 3.4E+38 (7 digit) | 55.6, 0.5E-2 |
Single precision floating point | 1.7E +/-308 (15 digits) | 3.141592653589 | |
Fixed point | -2147483.648 ~ 2147483.647 | 3050.76, -2.714 | |
String | Up to 240characters | "INPUT WORK NUMBER:", "INVALID DATA" |
øThe predefined variable stores the short type integer and single precision floating point, while the ID variable stores long type integer and the double precision floating point. (Pre-definitions and ID parameters are described in Section 10.4.)
Table 10‑4 Robot language pose and shift
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 | |
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.
If T is attached, user coordinates system is ignored even though it is already set, because only tool coordinates system is applied.