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8-8 Chapter 8 Robot Language Lists
8
9
10
11
12
13
No.
Command
Description
Online
Type
72
ORD
Acquires the character code of the first character in a
specified character string.
3
Function
101 RIGHT $
Extracts a character string comprising a specified number
of digits from the right end of a specified character string.
3
Function
124 STR $
Converts a specified value to a character string (
↔
VAL).
3
Function
136 VAL
Converts the numeric value of a specified character string
to an actual numeric value. (
↔
STR$)
3
Function
Point, coordinates, shift coordinates
No.
Command
Description
Online
Type
12
CHANGE
Switches the hand of a specified robot.
3
Command
44
HAND
Defines the hand of a specified robot.
3
Command
50
JTOXY
Converts joint coordinate data to Cartesian coordinate data
of a specified robot. (
↔
XYTOJ)
3
Function
52
LEFTY
Sets the hand system of a specified robot to the left-handed
system.
3
Command
56
LOCx
Specifies/acquires point data for a specified axis or shift
data for a specified element.
3
Command /
Function
77
PATH
Sets the movement path.
-
Command
85
Pn
Defines points within a program.
3
Command
86
PPNT
Creates point data specified by a pallet definition number
and pallet position number.
3
Function
102 RIGHTY
Sets the hand system of a specified robot to the right-
handed system.
3
Command
117 Sn
Defines the shift coordinates within the program.
3
Command
112 SHIFT
Sets the shift coordinate for a specified robot by using the
shift data specified by a shift variable.
3
Command
144 XYTOJ
Converts the point variable Cartesian coordinate data to the
joint coordinate data of a specified robot. (
↔
JTOXY).
3
Function
Branching commands
No.
Command
Description
Online
Type
35
EXIT FOR
Terminates the FOR to NEXT statement loop.
-
Command
38
FOR to NEXT
Executes the FOR to NEXT statement repeatedly until a
specified value is exceeded.
-
Command
40
GOSUB to
RETURN
Jumps to a subroutine with the label specified by GOSUB
statement, and executes that subroutine.
-
Command
41
GOTO
Unconditionally jumps to the line specified by a label.
-
Command
47
IF
Allows control flow to branch according to conditions.
-
Command
68
ON to GOSUB
Jumps to a subroutine with labels specified by a GOSUB
statement in accordance with the conditions, and executes
that subroutine.
-
Command
69
ON to GOTO
Jumps to label-specified lines in accordance with the conditions.
-
Command
104 SELECT CASE
to END SELECT Allows control flow to branch according to conditions.
-
Command
142 WHILE to WEND Controls repeated operations.
-
Command
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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