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8-14 Chapter 8 Robot Language Lists
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9
10
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No.
Function
Type
Description
56
LOCx
Point function
Acquires point data for a specified axis or shift data for a
specified element.
57
LSHIFT
Arithmetic function Shifts a value to the left by the specified bit count. (
↔
RSHIFT)
M
58
MCHREF
Arithmetic function
Acquires the return-to-origin or absolute-search machine
reference for specified robot axes. (Valid only for axes whose
return-to-origin method is set as "sensor" or "stroke-end".)
59
MID$
Character string
function
Extracts a character string of a desired length from a specified
character string.
65
MTRDUTY
Character string
function
Acquires the motor load factor of the specified axis.
O
72
ORD
Arithmetic function Acquires the character code of the first character in a specified
character string.
73
ORGORD
Arithmetic function Acquires the axis sequence parameter for performing return-to-
origin and an absolute search operation of a specified robot.
76
OUTPOS
Arithmetic function Acquires the "OUT position" parameter of a specified robot.
P
82
PGMTSK
Arithmetic function Acquires the task number in which a specified program is
registered.
83
PGN
Arithmetic function Acquires the program number from a specified program name.
86
PPNT
Point function
Creates point data specified by a pallet definition number and
pallet position number.
88
PSHFRC
Arithmetic function Acquires the "Push force" parameter.
89
PSHJGSP
Arithmetic function Acquires the push judge speed threshold parameter.
90
PSHMTD
Arithmetic function Acquires the push method parameter.
91
PSHRSLT
Arithmetic function Acquires the status at the end of the PUSH statement.
92
PSHSPD
Arithmetic function Acquires the push speed parameter.
93
PSHTIME
Arithmetic function Acquires the push time parameter.
R
95
RADDEG
Arithmetic function Converts a specified value to degrees. (
↔
DEGRAD)
101 RIGHT$
Character string
function
Extracts a character string comprising a specified number of
digits from the right end of a specified character string.
103 RSHIFT
Arithmetic function Shifts a value to the right by the specified bit count. (
↔
LSHIFT)
S
109 SGI
Arithmetic function Acquires the value of a specified integer type static variable.
110 SGR
Arithmetic function Acquires the value of a specified real type static variable.
113 SI
Arithmetic function Acquires a specified SI status.
114 SID
Arithmetic function Acquires a specified serial input's double-word information
status.
115 SIN
Arithmetic function Acquires the sine value for a specified value.
116 SIW
Arithmetic function Acquires a specified serial input's word information status.
122 SQR
Arithmetic function Acquires the square root of a specified value.
124 STR$
Character string
function
Converts a specified value to a character string (
↔
VAL).
T
108 TAN
Arithmetic function Acquires the tangent value for a specified value.
109 TCOUNTER
Arithmetic function Outputs count-up values at 1ms intervals starting from the point
when the TCOUNTER variable is reset.
Содержание SCARA YRCX Series
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