Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
93
G96
Update coordinates
18.
Macro syntax
18.1.
Variables
18.1.1.
Regional variables:
Each file has 200 local variables, floating point numbers:
#0 : represents a null value, which can be read to determine whether other variables are null and
cannot be written.
#1~#26 : If the file is not the top layer directly called by system, the 26 variables correspond to
the 26 letters of A~Z. When called, the various codes in the calling command of the previous
layer are brought into the corresponding variables of this file, and can also be used in subsequent
program lines.
#27~#199 : The intended use can be defined by the user.
18.1.2.
Global Variables:
When the program is running, there are 1000 global variables available with floating point
number:
@0 : represents a null value, which can be used to read whether other variables are null and
cannot be written.
@1~@999 : The intended use can be defined by the user.
Global variables can be accessed across files, so they can be used as a conduit for interworking
between different files.
18.2.
Core resource IOCSAR access
The following table is a list of all resources and access functions in the joint manipulator system.
Rsources
Quantity
R read, W write
(interpretation
execute
immediately)
R read, W write
(Interpretation
waits for the
core to
complete
before
executing)
Handed over
to the core for
simultaneous
execution
Description
I (Input)
1000
R_MLC_I_F
R_MLC_I
Software number,
