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8-2 Chapter 8 Robot Language Lists
8
9
10
11
12
13
Command list in alphabetic order
No.
Name
Description
Online
Type
A
1
ABS
Acquires the absolute value of a specified value.
3
Function
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
Function
3
ACCEL
Specifies/acquires the acceleration coefficient parameter of
a specified robot.
3
Command /
Function
4
ARCHP1
Specifies/acquires the arch position 1 parameter of a
specified robot.
3
Command /
Function
4
ARCHP2
Specifies/acquires the arch position 2 parameter of a
specified robot.
3
Command /
Function
5
ARMCND
Acquires the current arm status of a specified robot.
3
Function
6
ARMSEL
Specifies/acquires the current "hand system" setting of a
specified robot.
3
Command /
Function
7
ARMTYP
Specifies/acquires the "hand system" setting of a specified
robot.
3
Command /
Function
8
ASPEED
Specifies/acquires the AUTO movement speed of a
specified robot.
3
Command /
Function
9
ATN
Acquires the arctangent of the specified value.
3
Function
9
ATN2
Acquires the arctangent of the specified X-Y coordinates.
3
Function
10
AXWGHT
Specifies/acquires the axis tip weight parameter of a
specified robot.
3
Command /
Function
C
11
CALL
Calls a sub-procedure.
-
Command
12
CHANGE
Switches the hand of a specified robot.
3
Command
13
CHGPRI
Changes the priority ranking of a specified task.
3
Command
14
CHR$
Acquires a character with the specified character code.
3
Function
15
CLOSE
Close the specified General Ethernet Port.
3
Command
16
COS
Acquires the cosine value of a specified value.
3
Function
17
CURTQST
Acquires the current torque value ratio of a specified axis to
the rated torque.
3
Function
18
CURTRQ
Acquires the current torque value of the specified axis of a
specified robot.
3
Function
19
CUT
Terminates another task currently being executed or
temporarily stopped.
3
Command
D
20
DATE$
Acquires the date as a "yy/mm/dd" format character string.
3
Function
21
DECEL
Specifies/acquires the deceleration rate parameter of a
specified robot.
3
Command /
Function
22
DEF FN
Defines the functions that can be used by the user.
-
Command
23
DEGRAD
Converts a specified value to radians (
↔
RADDEG).
3
Function
24
DELAY
Waits for the specified period (units: ms).
-
Command
25
DI
Acquires the specified DI status.
3
Function
26
DIM
Declares the array variable name and the number of elements.
-
Command
27
DIST
Acquires the distance between 2 specified points.
3
Function
28
DO
Outputs a specified value to the DO port or acquires the DO
status.
3
Command /
Function
29
DRIVE
Moves a specified axis of a specified robot to an absolute position.
3
Command
Содержание SCARA YRCX Series
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