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8-16 Chapter 8 Robot Language Lists
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Functions: operation-specific
Point related functions
No.
Function name
Description
50
JTOXY
Converts joint coordinate data to Cartesian coordinate data of a specified robot.
(
↔
XYTOJ)
56
LOCx
Acquires point data for a specified axis or shift data for a specified element.
86
PPNT
Creates point data specified by a pallet definition number and pallet position number.
141 WHERE
Reads out the current position of the arm of a specified robot in joint coordinates
(pulse).
143 WHRXY
Reads out the current position of the arm of a specified robot as Cartesian
coordinates (mm, degrees).
144 XYTOJ
Converts the point variable Cartesian coordinate data to the joint coordinate data
of a specified robot. (
↔
JTOXY).
Parameter related functions
No.
Function name
Description
2
ABSRPOS
Acquires the machine reference value for specified robot axes. (Valid only for
axes whose return-to-origin method is set as "mark".)
3
ACCEL
Acquires the acceleration coefficient parameter of a specified robot.
4
ARCHP1
Acquires the arch position 1 parameter of a specified robot.
4
ARCHP2
Acquires the arch position 2 parameter of a specified robot.
5
ARMCND
Acquires the current arm status of a specified robot.
6
ARMSEL
Acquires the current "hand system" setting of a specified robot.
7
ARMTYP
Acquires the "hand system" setting of a specified robot.
10
AXWGHT
Acquires the axis tip weight parameter of a specified robot.
17
CURTQST
Acquires the current torque value ratio of a specified axis to the rated torque.
18
CURTRQ
Acquires the current torque value of the specified axis of a specified robot.
21
DECEL
Acquires the deceleration rate parameter of a specified robot.
53
LEN
Acquires the length (byte count) of a specified character string.
58
MCHREF
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".)
65
MTRDUTY
Acquires the motor load factor of the specified axis.
72
ORD
Acquires the character code of the first character in a specified character string.
73
ORGORD
Acquires the axis sequence parameter for performing return-to-origin and an
absolute search operation of a specified robot.
76
OUTPOS
Acquires the "OUT position" parameter of a specified robot.
88
PSHFRC
Acquires the "Push force" parameter.
89
PSHJGSP
Acquires the push judge speed threshold parameter.
90
PSHMTD
Acquires the push method parameter.
91
PSHRSLT
Acquires the status at the end of the PUSH statement.
92
PSHSPD
Acquires the push speed parameter.
93
PSHTIME
Acquires the push time parameter.
133 TOLE
Acquires the tolerance parameter of a specified robot.
134 TORQUE
Acquires the maximum torque command value which can be set for a specified
axis of a specified robot.
139 WEIGHT
Acquires the tip weight parameter of a specified robot.
Содержание SCARA YRCX Series
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