Contents
iv
Page
4.3.13 Joint constants .............................................................................................................. 4-133
(1) Axis data format and meanings .................................................................................... 4-133
4.3.14 Angle value ................................................................................................................... 4-134
4.3.15 Variables ....................................................................................................................... 4-134
4.3.16 Numeric value variables ............................................................................................... 4-135
4.3.17 Character string variables ............................................................................................. 4-135
4.3.18 Position variables .......................................................................................................... 4-135
4.3.19 Joint variables ............................................................................................................... 4-136
4.3.20 Input/output variables ................................................................................................... 4-136
4.3.21 Array variables .............................................................................................................. 4-136
4.3.22 External variables ......................................................................................................... 4-137
4.3.23 Program external variables ........................................................................................... 4-137
4.3.24 User-defined external variables .................................................................................... 4-138
4.3.25 Creating User Base Programs ...................................................................................... 4-139
4.3.26 Robot status variables .................................................................................................. 4-140
4.4 Logic numbers ...................................................................................................................... 4-144
4.5 Functions .............................................................................................................................. 4-144
(1) User-defined functions ................................................................................................. 4-144
(2) Built-in functions ........................................................................................................... 4-144
4.6 List of Instructions ................................................................................................................. 4-147
(1) Instructions related to movement control ..................................................................... 4-147
(2) Instructions related to program control ......................................................................... 4-147
(3) Definition instructions ................................................................................................... 4-148
(4) Multi-task related ......................................................................................................... 4-148
(5) Others .......................................................................................................................... 4-149
4.7 Operators .............................................................................................................................. 4-150
4.8 Priority level of operations ..................................................................................................... 4-151
4.9 Depth of program's control structure ..................................................................................... 4-151
4.10 Reserved words .................................................................................................................. 4-151
4.11 Detailed explanation of command words ............................................................................ 4-152
4.11.1 How to read the described items .................................................................................. 4-152
4.11.2 Explanation of each command word ............................................................................. 4-152
4.12 Detailed explanation of Robot Status Variable ................................................................... 4-264
4.12.1 How to Read Described items ...................................................................................... 4-264
4.12.2 Explanation of Each Robot Status Variable .................................................................. 4-264
4.13 Detailed Explanation of Functions ...................................................................................... 4-307
4.13.1 How to Read Described items ...................................................................................... 4-307
4.13.2 Explanation of Each Function ....................................................................................... 4-307
5 Functions set with parameters .................................................................................................... 5-343
5.1 Movement parameter ............................................................................................................ 5-343
5.2 Signal parameter ................................................................................................................... 5-351
5.2.1 About multi CPU input offsets (CRnQ-700 controller only) ................................................................... 5-354
(1) Case (A) ..................................................................................................................................................................... 5-354
(2) Case (B) ..................................................................................................................................................................... 5-355
5.3 Operation parameter ............................................................................................................. 5-356
5.4 Command parameter ............................................................................................................ 5-359
5.5 Communication parameter .................................................................................................... 5-363
5.6 Standard Tool Coordinates ................................................................................................... 5-364
5.7 About Standard Base Coordinates ....................................................................................... 5-366
5.8 About user-defined area ....................................................................................................... 5-367
5.9 Free plane limit ..................................................................................................................... 5-368
5.10 Automatic return setting after jog feed at pause ................................................................. 5-369
5.11 Automatic execution of program at power up ..................................................................... 5-371
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