Mitsubishi Electric CR750-Q - Page 16

Contents
iv
Page
4.4.1 Statement ....................................................................................................................... 4-135
4.4.2 Appended statement ....................................................................................................... 4-135
4.4.3 Step ................................................................................................................................ 4-135
4.4.4 Step No. .......................................................................................................................... 4-135
4.4.5 Label ............................................................................................................................... 4-135
4.4.6 Types of characters that can be used in program .......................................................... 4-136
4.4.7 Characters having special meanings .............................................................................. 4-137
(1) Uppercase and lowercase identification ....................................................................... 4-137
(2) Underscore ( _ ) ........................................................................................................... 4-137
(3) Apostrophe ( ' ) ............................................................................................................. 4-137
(4) Asterisk ( * ) .................................................................................................................. 4-137
(5) Comma ( , ) .................................................................................................................. 4-137
(6) Period ( . ) ..................................................................................................................... 4-137
(7) Space ........................................................................................................................... 4-137
4.4.8 Data type ........................................................................................................................ 4-138
4.4.9 Constants ........................................................................................................................ 4-138
4.4.10 Numeric value constants .............................................................................................. 4-138
(1) Decimal number ........................................................................................................... 4-138
(2) Hexadecimal number ................................................................................................... 4-138
(3) Binary number .............................................................................................................. 4-138
(4) Types of constant ......................................................................................................... 4-138
4.4.11 Character string constants ............................................................................................ 4-138
4.4.12 Position constants ......................................................................................................... 4-139
(1) Coordinate, posture and additional axis data types and meanings .............................. 4-139
(2) Meaning of structure flag data type and meanings ...................................................... 4-139
4.4.13 Joint constants .............................................................................................................. 4-140
(1) Axis data format and meanings .................................................................................... 4-140
4.4.14 Angle value ................................................................................................................... 4-141
4.4.15 Variables ....................................................................................................................... 4-141
4.4.16 Numeric value variables ............................................................................................... 4-142
4.4.17 Character string variables ............................................................................................. 4-142
4.4.18 Position variables .......................................................................................................... 4-142
4.4.19 Joint variables ............................................................................................................... 4-143
4.4.20 Input/output variables ................................................................................................... 4-143
4.4.21 Array variables .............................................................................................................. 4-143
4.4.22 External variables ......................................................................................................... 4-144
4.4.23 Program external variables ........................................................................................... 4-144
4.4.24 User-defined external variables .................................................................................... 4-145
4.4.25 Creating User Base Programs ...................................................................................... 4-146
4.5 Coordinate system description of the robot .......................................................................... 4-147
4.5.1 About the robot's coordinate system ............................................................................... 4-147
4.5.2 About base conversion ................................................................................................... 4-148
4.5.3 About position data ......................................................................................................... 4-149
4.5.4 About tool coordinate system (mechanical interface coordinate system) ....................... 4-150
(1) Mechanical interface coordinate system ...................................................................... 4-150
(2) Tool coordinate system ................................................................................................ 4-151
(3) Effects of use of tool coordinate system ....................................................................... 4-152
4.6 Robot status variables .......................................................................................................... 4-155
4.6.1 Logic numbers ................................................................................................................ 4-159
4.7 Functions .............................................................................................................................. 4-160
(1) User-defined functions ................................................................................................. 4-160
(2) Built-in functions ........................................................................................................... 4-160
4.8 List of Command ................................................................................................................... 4-163
(1) Command related to movement control ....................................................................... 4-163
(2) Command related to program control ........................................................................... 4-164
(3) Definition commands .................................................................................................... 4-164
(4) Multi-task related .......................................................................................................... 4-165