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8-6 Chapter 8 Robot Language Lists
8
9
10
11
12
13
No.
Name
Description
Online
Type
121 SPEED
Changes the program movement speed of a specified robot.
3
Command
122 SQR
Acquires the square root of a specified value.
3
Function
123 START
Specifies the task number and priority ranking of a specified
program, and starts that program.
3
Command
124 STR$
Converts a specified value to a character string (
↔
VAL).
3
Function
125 SUB to END SUB Defines a sub-procedure.
-
Command
126 SUSPEND
Temporarily stops another task which is being executed.
-
Command
127 SWI
Switches the program being executed, then begins
execution from the first line.
-
Command
T
128 TAN
Acquires the tangent value for a specified value.
3
Function
129 TCOUNTER
Outputs count-up values at 1ms intervals starting from the
point when the TCOUNTER variable is reset.
3
Function
130 TIME$
Acquires the current time as an "hh:mm:ss" format character string.
3
Function
131 TIMER
Acquires the current time in seconds, counting from midnight.
3
Function
132 TO
Outputs a specified value to the TO port or acquires the TO
status.
3
Command /
Function
133 TOLE
Specifies/acquires the tolerance parameter of a specified
robot.
3
Command /
Function
134 TORQUE
Specifies/acquires the maximum torque command value
which can be set for a specified axis of a specified robot.
3
Command /
Function
135 TSKPGM
Acquires the program number which is registered in a
specified task.
3
Function
V
136 VAL
Converts the numeric value of a specified character string
to an actual numeric value. (
↔
STR$)
3
Function
W
137 WAIT
Waits until the conditions of the DI/DO conditional
expression are met (with time-out).
-
Command
138 WAIT ARM
Waits until the axis operation of a specified robot is completed.
-
Command
139 WEIGHT
Specifies/acquires the tip weight parameter of a specified
robot.
3
Command /
Function
140 WEND
Terminates the command block of the WHILE statement.
-
Command
141 WHERE
Reads out the current position of the arm of a specified
robot in joint coordinates (pulse).
3
Function
142 WHILE to WEND Controls repeated operations.
-
Command
143 WHRXY
Reads out the current position of the arm of a specified
robot as Cartesian coordinates (mm, degrees).
3
Function
X
144 XYTOJ
Converts the point variable Cartesian coordinate data to the
joint coordinate data of a specified robot. (
↔
JTOXY).
3
Function
Содержание SCARA YRCX Series
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