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10.4.1.1. Global Variable

10.4.1.1. Global Variable​

 

Global variables are shared and used by all types of tasks and job programs. For example, as shown below, the value of the global variable V10% can be read and written in all job programs of all tasks, including 0002.JOB and 0005.JOB. For example, when 5 is assigned to V10% in JOB 1 and JOB 5 outputs V10%, 5 will be outputted.

 

Table 10‑7 Robot language global variables

Variable

Syntax

Example

Arithmetic

Integer

(short)

V1%~V600% or

V%[1]~V%[600]

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

(Formulas should be in [ ].)

Real number

(float)

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 The pose elements and shift elements will be treated as fixed point real numbers.

 

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.