[ Functions ]
Robot functions
Built-in functions, that are built-in as robot functions, and user definition functions, which can be
freely defined, can be used with this robot.
User definition functions are defined in the customizing mode. (Refer to operation manual “Features
IV” for a description of the customizing mode.)
The following can be used as robot system built-in functions.
Category Identifier Description
num currentMainProgNumber() Currently running main program No.
num currentSubProgNumber() Currently running subprogram No.
num currentPointNumber() Currently running point No.
num currentArmX() Current arm coordinate X, “mm” units
num currentArmY() Current arm coordinate Y, “mm” units
num currentArmZ() Current arm coordinate Z, “mm” units
num currentArmR() Current arm coordinate R, “degree” units
num numCOM(port#) COM receive port data byte count
currentMainProgNumber()
Holds the main program number currently running.
currentSubProgNumber()
Holds the subprogram number currently running. When a subprogram is not run, this variable
holds the main program number currently running.
currentPointNumber()
Holds the point number currently running. For work home, this variable is “0”.
currentArmX(),currentArmY(),currentArmZ()
Holds the current arm position (coordinate). (Absolute coordinate, “mm” units)
currentArmR()
Holds the number of rotations of the current R-axis (R-axis coordinate). (Absolute coordinate,
“degree” units)
Features II CARTESIAN Benchtop Robot
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