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coordinate point variables (save space and joints respectively, that is, there can be no
kinematic relationship between the two).
2) Variable scope
To be precise, there are three scope variables in the system, namely system variables,
global variables and file variables.
System variables:
The system variable life cycle is created and destroyed as the
system starts/stops. System variables are common variables in the entire system, that is,
variables that can be used simultaneously by motion scripts and background script
programs. System variables will not be initialized by the system because of which program
starts and stops. Unless the script or network (such as tcp server) is deliberately modified,
the system variables will never be changed by the system.
Global variables:
The life cycle of global variables is created and destroyed with the
start and stop of this script program. Global variables are shared in the scripts started this
time. That is shared between the sub-file and the main file. Nowhere else (such as between
front and back office, network, etc.) cannot access this variable.
File variables:
Also called local variables, whose life cycle is consistent with global
variables, the difference is that it cannot be shared between the main file and each sub-file.
3) Definition of variables
There are two ways to define variables, one is system pre-defined, and the other is
user-defined. Some system variables and file variables have been defined in the system for
users to use. Global variables are not predefined in the system, and can be replaced with
system variables if necessary. The user-defined variable method is more suitable for
background programming, this article will not introduce it first.
Predefined system variables:
1) V0~V999: 1000 system digital variables, it should be noted that, for convenience
of writing, V0, V00, V000 represent the same variable, and if V011 and V11 are also the
same variable, all system preset variables are the same, but in order to It looks comfortable,
please use V000 format as much as possible when programming manually.
2) S0~S999: 1000 system character variables.
3) P0~P999: 1000 system coordinate point variables.
Predefined file variables:
1) FV0~FV999: 1000 file digital variables.
2) FS0
～
FS999: 1000 file character variables.
3) FP0
～
FP999: 1000 file coordinate point variables.
Note: As mentioned before, the scope of file variables is a single file, even if the name
is the same, that is, each main file and each sub-file have 1,000 FV, FS, FP, etc. (a total of
3,000 variables), but they cannot be shared. The same variable uses its own memory.
4.2.2 Variable use
To be precise is the use of variables on the interface.
1) Variable operation interface
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