FUNCTION LIST
Built-in functions, which 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 the operation manual
“Features IV” for a description of the customizing mode.)
x, y: Numeric value or numeric variable
n, m: Numeric value made a certain digit or greater by rounding or truncation
a, b: String or string variable
Type Identifier Description
Category
num currentMainProgNumber() Main program No. currently running
num currentSubProgNumber() Subprogram No. currently running
num currentPointNumber() Point No. currently running
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
Robot system
num
NumCOM
(COM Port Number)
Data byte count of COM receiving port
num abs(x) Absolute value
num max(x,y) Maximum value
num min(x,y) Minimum value
num degrad(x)
Conversion from degree to radian (x* π/180)
num raddeg(x)
Conversion from radian to degree (x*180/π)
num sqrt(x) Square root
num sin(x) Sine
num cos(x) Cosine
num tan(x) Tangent
num atan(x) Arc tangent
num atan2(x,y) Arc tangent
num int(x)
Large integer that does not exceed x.
Ex: int (1.3)=1, int (-1.3)=-2
num ip(x)
Integer part of x. sgn (x)*int (abs(x))
(When x is a negative number, sgn (x) becomes -1
and when x is a positive number, sgn (x) becomes
+1.)
Ex: ip (1.3)=1, ip (-1.3)=-1
num fp(x)
Decimal part of x x-ip (x)
Ex: fp (1.3)=0.3, fp (-1.3)=-0.3
num mod(x,y) Value of x which makes y modulo x-y*int (x/y)
num remainder(x,y) Remainder of dividing x by y x-y*ip (x/y)
Arithmetic system
num pow(x,y) x to the power of y
Features II CARTESIAN Benchtop Robot
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