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Detailed explanation of Robot Status Variable
(4) Specifying work coordinates by this command clears WO, WX and WY data for the corresponding work
coordinate number [coordinate values of 3 points to be taught as work coordinates - parameters:
WKnWO, WKnWX, WKnWY (n: 1~8)].
Example) Executing Step 4 (P_WKcORD(2)=PW) of Reference Program <1> which is previously listed
causes WK2WO, WK2WX and WK2WY to be set to "0".
(5) Only MELFA-BASIC V can be used.
(6) In the Ex-T control interpolation command, this variable is referred to by the designated work coordinate
number and used as the Ex-T control point. Therefore, specifying P_WkCord also specifies the control
point coordinates in the Ex-T control.
[Related instructions]
Base (Base), EMvc (E Move C), EMvr (E Move R), EMvr2 (E Move R 2), EMvr3 (E Move R 3),
EMvs (E Move S)
[Related parameter]
,
("n" is 1 to 8),
,
("n" is 1 to 8)
P_Zero
[Function]
Always returns (0,0,0,0,0,0,0,0)(0,0).
[Format]
[Terminology]
<Position Variables>
Specifies the position variable to assign.
[Reference Program]
1 P1=P_Zero
'(0,0,0,0,0,0,0,0)(0,0) is assigned to P1.
[Explanation]
(1) This can be used to initialize the P variable to zeros.
(2) This variable only reads the data.
Example)<Position Variables>=P_Zero
