Motoman XRC 2001, Operator'S Manual

Page: 242 / 387

5.3 Other Editing
5-33
• Controlling of the number of workpieces
• Controlling of the number of jobs
• Sending/receiving of information between jobs
User variable values are maintained even when the power is turned off. The data formats for
user variables are as described in the following table:
User Variables
Data Format
Variable No.
(pcs)
Functions
Byte Type
B000 to B099
(100)
Range of storable values is from 0 to 255.
Can store I/O status.
Can perform logical operations (AND, OR, etc)
Integer Type I000 to I099
(100)
Range of storable values is from -32768 to 32767.
Double-precision
Type D000 to D099
(100)
Range of storable values is from -2147483648 to
2147483647.
Real Type R000 to R099
(100)
Range of storable values is from -3.4E+38 to 3.4E+38.
Accuracy: 1.18E-38 < x <=3.4E38
Position
Type Robot P000 to P127
(128)
Can store position data in pulse form or in XYZ form.
XYZ type variable can be used as target position data for
move instructions, and as incremental values for parallel
shift instructions.
Base BP000 to BP127
(128)
Station EX000 to EX127
(128)
•
Play Speed V:
MOVL V=I000
The variable I000 is used for speed V with this move instruction.
The unit for V is 0.1mm per second.
For example, if I000 were set as 1000, the following would be true:
I000=1000
à
unit for V is 0.1 mm/sec
à
V=100.0mm per second
Note that, depending on the unit being used, the value of the variable and the value of the
actual speed on occasion might not match.
•
Play Speed VJ:
MOVL VJ=I000
The unit for VJ is 0.01%.
For example, if I000 were set as 1000, the following would be true:
I000=1000
à
unit for VJ is 0.01%
à
VJ=10.00%.
•
Timer T:
TIMER T=I000
The unit for T is 0.01 seconds.
For example, if I000 were set as 1000, the following would be true:
I000=1000
à
unit for T is 0.01 seconds
à
T=10.00 seconds.
N OT E