igus Drylin Delta, User Manual

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8.3. Variables and Variable Access
Two types of variables are supported in programs for iRC and TinyCtrl:
 Number variables: these can be used to store integer or floating point numbers
 Position variables: these can be used to store Cartesian positions and joint
positions. Whether such a variable will be interpreted as cartesian position or joint
position depends on context.
8.3.1. User Variables
It is possible to define user-variables with the Store command, which is accessible in iRC’s
Program Editor through the menu entries under “Special”->”Variable definition”.
It is possible to choose three types of Store operations:
 “Current position”:
A position variable will be initialized with the cartesian and joint position that the
robot has when the command is being executed.
 “Number constant”:
A number variable will be initialized with the constant given under “Value”.