135
program adjustment value is changed to the data executed by the current VORD instruction, and the
VORD instruction takes effect downward and can be assigned to the R register. The usage method
is: R[1]=VORD Means to obtain the current robot's program adjustment value R[1].
Steps
1. Select the previous line of the instruction line to be added.
2. Select instruction → assignment instruction.
3. In the first input box on the left, select the type from the "Global Variables" drop-down
box.
4. Select the VORD option.
5. Click the input box on the right and enter the value.
6. Click the "OK" button to complete the modification instruction addition.
Figure 19-21 Modification command
19.12.5 Timing instruction
Explanation: The TIME instruction can calculate the beat or the program running time, the unit
is ms.
Example
R[1]=TIME
J P[1]
J P[2]
R[1]=TIME-R[1]
Remark: As in the above program, the first line assigns the system time to R[1], runs P1 and
P2 in turn, and the last line calculates the difference between the current time and the previous save
time and saves it to the R[1] register. You can know the running time from P[1] to P[2] by looking
at the value of R[1] register.
Steps
1. Select the upper line of the command line to be inserted.
2. Select instruction
→
assignment instruction
→
register.
3. Slide the drop-down box option and select R[] and enter the index number.