4-208
Detailed explanation of command words
[Explanation]
(1) An input signal is read when referencing this variable.
(2) An output signal is written when assigning a value to this variable.
(3) It is not allowed to reference an output signal by this variable. Use the M_Out variable in order to refer-
ence an output signal.
(4) The variable name can have up to 16 characters. Refer to the
Page 136, "4.4.6 Types of characters that
for the characters that can be used.
(5) When mask information is designated, only the specified signal will be validated.
Example) In the reference program (2) the 20th step, the input/output data with a bit width of eight is
masked by 0F in hexadecimal. Thus, if PORT 2 is used thereafter;
• When used as an input signal (M1 = PORT 2):
Numbers 5 to 8 are used for input, and numbers 9 to 12 are always treated as 0.
No. 12
No.5 (Input/output bit No.)
0 0 0 0 1 1 1 1
Invalid Valid
• When used as an output signal (PORT 2 = M1):
Data to be output this time is output to numbers 5 to 8, and the status currently being output
is retained at numbers 9 to 12.
No. 12
No.5 (Input/output bit No.)
* * * * 1 1 1 1
(a) (b)
(a) Retains the current output status
(b) Output data of this time
Def Jnt (Define Joint)
[Function]
This instruction declares joint type position variables. It is used when using a variable with a name that
begins with a character other than "J." It is not necessary to declare variables whose names begin with the
character "J" using the Def Jnt instruction.
[Format]
[Terminology]
<Joint variable name>
Designate a variable name.
[Reference Program]
1 Def Jnt SAFE
' Declare "SAFE" as a joint variable.
2 Mov J1
' For joint type position variables starting with J, the definition of
"Def Jnt" is not required.
3 SAFE = (-50,120,30,300,0,0,0,0)
4 Mov SAFE
' Move to SAFE.
[Explanation]
(1) Use this instruction to define a joint position variable by a name beginning with a character other than J.
(2) The variable name can have up to 16 characters. Refer to the
Page 136, "4.4.6 Types of characters that
for the characters that can be used. When designating multiple variable
names, the maximum value (240 characters including command) can be set on one step.
(3) A variable becomes a global variable that is shared among programs by placing "_" after J in the variable
name and writing it in a base program.
Refer to
Page 145, "4.4.24 User-defined external variables"
for details.
Def[]Jnt[] <Joint variable name> [, <Joint variable name>]...
