4-35How to Operate Variables
4Reads/Writes Robot's Variables
4.3 How to Operate Variables
Here, in the sequencer, operates the robot's variables (read/ write variables) by specifying function number,
slot number, variable name, and variable data.
Function number setting allows you to select work type (read/ write variable) and variable type (numeric/
position/ joint variables) and specify a variable name (designation of ASCII character).
* Long-precision integer number and single-precision real number can be used for reading/writing of
numeric value variables since software version R3p.
4.3.1 Data List
(1)
Sequencer output data
1) Word data
Setting values when specifying ASCII character
for variable and program names
Sequencer
Addr
(offset)
Item
Setting Value for Specifying ASCII Character
Numeric Var
(Integer)
Position Var Joint Var
Numeric Var
(Long-precision
integer number
Note1)
)
Note1) This number can be used since software version R3p.
Numeric Var
(Single-precision real
number
Note1)
)
Read Write Read Write Read Write Read Write Read Write
701
(Reserved)
(Reserved)
702
Function No
101 102 104 105 107 108 111 112 121 122
703 Slot No Slot number [0, 1 to the value of parameter TASKMAX]
704
Program
name
(Not used)
(Not used)
705
706
707
708
709
710
Variable
name
Variable name [ASCII data, up to 16 characters]
711
712
713
714
715
716
717
718
Variable
data
(Not
used)
Integer
(Not
used)
X coor-
dinate
value
(Not
used)
J1 coor-
dinate
value
(Not
used)
Long-
precision
integer
number
value
(Not
used)
Single-
precision
real num-
ber value
719
(Not
used)
720 Y coor-
dinate
value
J2 coor-
dinate
value
(Not
used)
(Not
used)
721
722 Z coor-
dinate
value
J3 coor-
dinate
value
723
724 A coor-
dinate
value
J4 coor-
dinate
value
725
726 B coor-
dinate
value
J5 coor-
dinate
value
727
728 C coor-
dinate
value
J6 coor-
dinate
value
729
730
L1 coor-
dinate
value
J7 coor-
dinate
value
731
732
L2 coor-
dinate
value
J8 coor-
dinate
value
733
734
Struc-
ture flag
(Not
used)
735
736 Multi-
turn
data
737
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