Denso RC5 Dokumentacja Pobierz pdf (Strona 34)

100

101

Commands Listed According to Functions

4-axis 6-axis

Vision

device

¤¤¤Available with all series of robots and vision device.

¡¡¡

Available with all series of robots. The command

ecifications differ between the 4-axis, 6-axis robot,

and vision device.

¤ V1.2

Available with the 4-axis robots and the 6-axis robots

of Version 1.2 or later.

Classified by functions Commands Functions

4-axis 6-axis

Vision

device

Refer

to:

Declaration Statements

Program Name PROGRAM Declares a program name. ¤¤¤9-1

Interference Area

Coordinates

AREA

Declares the area where an

interference check is

performed.

¡¡ 9-2

User Function DEF FN Declares a user-defined

function.

¤¤¤9-4

Home Coordinates HOME

Declares arbitrary coordinates

as a home position.

¡¡ 9-5

Tool Coordinates TOOL Declares a tool coordinate

system.

¡¡ 9-6

Work Coordinates WORK Declares a user coordinate

system.

¡¡ 9-7

Local Variable

Integer

DEFINT

Declares an integer type

variable. The range of the

integer is from -2147483648 to

2147483647.

¤¤¤9-8

Floating-point DEFSNG Declares a single precision real

type variable. The range of

single precision real variables

is from -3.402823E+38 to

3.402823E+38.

¤¤¤9-9

Double-precision DEFDBL Declares a double precision

real type variable. The range of

double precision real type

variables is from -

1.79769313486231D + 308 to

1.79769313486231D + 308.

¤¤¤9-10

String DEFSTR Declares a character string

type variable. You can enter

247 characters or less as a

character string.

¤¤¤9-11

Vector DEFVEC

Declares a vector type

variable.

¤¤ 9-12

Position DEFPOS Declares a position type

variable.

¡¡ 9-13

Joint DEFJNT Declares a joint type variable. ¡¡ 9-14

Homogeneous

transform matrix

DEFTRN Declares a homogeneous

transformation type variable.

¤¤ 9-15

I/O DEFIO Declares an I/O variable

corresponding to the

input/output port.

¤¤¤9-16

Array DIM Declares an array. ¤¤¤9-17

Assignment Statements

Variables LET Assigns a value to a variable. ¡¡¡10-1

Vector LETA Assigns a value to an

approach vector of the

homogeneous transformation

type.

¤ 10-2

1 2 ... 29 30 31 32 33 34 35 36 37 38 39 ... 691 692

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