Panasonic VR2 Series - Getpos; Inc; Mod; Mul

16-11
16-4-9. GETPOS
Format
GETPOS [Variable]
Function It saves the current robot orientation in position
variable.
Variable to save position value
(GD, GA, GP, P).
Condition None.
Lock condition None.
Syntax check None.
Variable
Example Save the robot position when the command is executed in GD001.
GETPOS GD001
16-4-10. INC
Format
INC [Variable]
Function It increments the variable by 1. Variable
Condition Standard.
Lock condition None.
Variable whose value is to be
incremented by 1.
(GB, LB, GI, LI, GL, LL)
Syntax check None.
Example Increment the value of LR001 by 1.
INC LR001
16-4-11. MOD
Format
[MOD [Variable] [Data]
Function It assigns the remainder to a specified variable
name after a division.
Variable
Condition Standard.
Variable the remainder is to be
assigned to.
(GB, LB, GI, LI, GL, LL)
Lock condition None. Data
Syntax check None.
Value or variable (of the same
type)
Example
Calculate the remainder of LR002÷LR003 and assign the result to LR002
MOD LR002, LR003
16-4-12. MUL
Format
MUL [Variable 1] [Variable 2]
Function It multiplies values of a specified variable and
another specified variable name.
Variable 1
Condition Standard.
Lock condition None.
Variable whose value is to be
referred, and the calculated value
is to be assigned to.
(GB,LB,GI,LI,GL,LL,GR,LR,GD)
Syntax check Error if both variable 1 and 2 are teaching point
type or 3-D type, or if variable 1 and 2 are
teaching point type and 3-D type.
Variable 2 Numerical value or variable (of the
same type).
Example Multiply LR001 by 2
MUL LR001, 2