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8
9
10
11
12
13
Functions: in alphabetic order 8-15
No.
Function
Type
Description
130 TIME$
Character string
function
Acquires the current time as an "hh:mm:ss" format character
string.
131 TIMER
Arithmetic function Acquires the current time in seconds, counting from midnight.
133 TOLE
Arithmetic function Acquires the tolerance parameter of a specified robot.
134 TORQUE
Arithmetic function Acquires the maximum torque command value which can be set
for a specified axis of a specified robot.
135 TSKPGM
Arithmetic function Acquires the program number which is registered in a specified
task.
V
136 VAL
Arithmetic function Converts the numeric value of a specified character string to an
actual numeric value. (
↔
STR$)
W
139 WEIGHT
Arithmetic function Acquires the tip weight parameter of a specified robot.
141 WHERE
Point function
Reads out the current position of the arm of a specified robot in
joint coordinates (pulse).
143 WHRXY
Point function
Reads out the current position of the arm of a specified robot as
Cartesian coordinates (mm, degrees).
X
144 XYTOJ
Point function
Converts the point variable Cartesian coordinate data to the joint
coordinate data of a specified robot. (
↔
JTOXY).
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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