8-
4
8
ROBOT LANGUAGE
8-2 Robot Language Syntax Rules
8-2-2 Variables
Variable
are
used
in
a
program
to
hold
data.
The
following
variables
can
be
used
with
the
DRC
X
controller.
■
Point variable P
A
point
variable
can
contain
a
point
number.
It
is
used
in
movement
commands
such
as
MOVA
and
MOVI
statements
instead
of
specifying
the
point
number
directly.
Sometimes
the
number
of
program
steps
can
be
reduced
by
using
point
variables.
■
Counter array variable C, Counter variable D
A
counter
variable
can
contain
counter
values
and
is
used
to
specify
the
pallet
work
position
number
in
a
palleti
z
ing
program
and
to
count
the
number
of
runs.
A
counter
array
variable
is
an
array
of
a
total
of
32
counter
variables
that
can
be
selected
by
the
CSEL
statement
of
robot
lan-
guage.
■
Flag variable: memory input/output 100 to 147
A
flag
variable
can
only
have
a
data
value
of
1
(
ON
)
or
0 (
OFF
)
.
It
is
used
in
a
multi-task
program
to
synchroni
z
e
between
tasks
or
in
a
condition
judgement
program.
Memory
I
/
O
from
1
00
to
131
can
be
freely
turned
on
or
off
by
the
user
or
their
values
can
be
referenced.
However,
outputs
132
to
1
47
are
controlled
by
the
system
so
the
user
can
only
refer
to
their
values.
Memory I/O description
Type
General-
purpose
Dedicated
Meaning
Memory I/O available to the user
The user can freely set this with a DO statement.
Task 0 (main task) status
Always set to 1.
Task 1 status
1: Task has started. 0: Task has ended or has not yet started.
Task 2 status
1: Task has started. 0: Task has ended or has not yet started.
Task 3 status
1: Task has started. 0: Task has ended or has not yet started.
Reserved for system use (Always set to 0.)
X-axis hold status
1: Hold 0: Non hold
Y-axis hold status
1: Hold 0: Non hold
Reserved for system use (Always set to 0.)
X-axis constant movement status
1: Constantly moving 0: Accelerating, decelerating or in stop
Y-axis constant movement status
1: Constantly moving 0: Accelerating, decelerating or in stop
Reserved for system use (Always set to 0.)
Memory I/O No.
100 to 131
132
133
134
135
136 to 139
140
141
142 to 143
144
145
146 to 147
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