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.

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.

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