127
19.12.1 Register instruction
Instructions:
The Huashu III system predefines several groups of different types of registers for users to use.
Contains floating-point type R registers, joint coordinate type JR registers, Cartesian type LR
registers, of which 300 R registers are available for users, and there are 300 JR and LR registers.
Generally, the user assigns the preset value to the register corresponding to the index number, such
as: R[0]=1, JR[0]=JR[1], LR[0]=LR[1], the register can be directly Used in the program.
Register instructions include R[], JR[], LR[], JR[][], LR[][], P[], P[][].
Assignment instruction
Register
R[1]=
0
JR[1]=JR[
0
]
LR[1]= LR[
0
]
JR[1]= P[1]
JR[1][
0
]=JR[1][1]
LR[1][R[1]]=R[2]
etc.
Coordinate System
UTOOL_NUM=
0
UFRAME_NUM=
0
Motion-global
variables
CNT =
100
L_VEL =50
L_ACC =50
L_DEC = 50
L_VROT = 50
J…
C… etc.