Universal Robots UR16e

Variable Value Types A robot program uses variables to store and update various values during
runtime. Variables only appear when there is information to display.
Variable types include:
•
Program variables - These are available to the running program only
and their values are lost as soon as the program is stopped.
•
Installation variables - These can be used by multiple programs and
their names and values stay together with the robot installation (see
8.5. Installation Variableson page292).
•
Script variables - These come from script files and they can be
assigned different variable types. Script variables do not appear in
the Program tab or in the Installation tab. The robot program uses the
script variables to store information about waypoints. You can select
the Show Waypoints checkbox, under Variables, to show script
variables in the variables list.
The table below list variable value types:
bool
A boolean variable whose value is either
True or False
int
A whole number in the range from -
2147483648 to 2147483647 (32 bit)
float A floating point number (decimal)(32 bit)
string A sequence of characters
pose
A vector describing the location and
orientation in Cartesian space. It is a
combination of a position vector (x, y, z)
and a rotation vector (rx, ry, rz)
representing the orientation written p[x, y,
z, rx, ry, rz]
list A sequence of variables
7.3. Expression Editor
Description While the expression itself is edited as text, the expression editor has a
number of buttons and functions for inserting the special expression
symbols, such as * for multiplication and ≤ for less than or equal to. The
keyboard symbol button in the top left of the screen switches to text-editing
of the expression. All defined variables can be found in the Variable
selector, while the names of the input and output ports can be found in the
Input and Output selectors. Some special functions are found in
Function.
User Manual 181 UR16e
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