igus Drylin Delta, Руководство пользователя

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 “Position constant”:
A position variable will be initialized with the constants given under “Cartesian position”,
“Joint position” and “External axes”. Depending on the kinematic model of the current robot
certain axes may be unavailable.
The name of the variable can be set under “Variable”. If a variable with the same name has
already been defined its value and type will be overwritten. All variables are global, i.e. they
will also be accessible from subprograms.
8.3.2. System Variables
The following predefined variables are available without the need to define them:
 #position
The current position of the robot. The units of the Cartesian position are mm for the
components X,Y,Z and degrees for the Euler angles A,B,C. Joint values are measured in
mm or degrees, depending on the type of the joint.
Note that the system controls the values of predefined variables – they cannot be changed by
the program. The names of predefined variables always start with a “#”.
8.3.3. Element Access
The following elements of the variables can be accessed with the “.” Operator:
 Position: X, Y, Z E.g.: myvariable.x

Rotation : A, B, C E.g.: myvariable.a
 Joints: A1, A2, A3, A4, A5, A6, E1, E2, E3 E.g.: myvariable.a5