4 Teaching
4.6 User Variables
4-45
HW1485509
HW1485509
Below are some examples of using variables to specify motion speed and
timer values:
– Play LinearMove Speed:
LinearMove Speed = D000
The variable D000 is used for speed with this motion instruction.
The unit for speed is 0.1mm per second.
For example, if D000 were set as 1000, the following would be true:
D000 = 1000 unit for speed is 0.1mm/s speed = 100.0mm/s
Note that, depending on the unit being used, the value of the
variable and the value of the actual speed on occasion might not
match.
– Play JointMove Speed:
JointMove Speed = D000
The unit for speed is 0.01%.
For example, if D000 were set as 1000, the following would be true:
D000 = 1000 unit for speed is 0.01% speed = 10.00%.
– Timer Time:
Timer Time = D000
For YRC1000, the unit for Time is 0.01 seconds.
(For YRC1000micro, the unit for Time is 0.001 seconds.)
For example, if D000 were set as 1000, the following would be true:
D000 = 1000 unit for Time is 0.01 seconds Time = 10.00
seconds.
Array Variable
An array variable can be used to dynamically change the
variable number that is used in the program. The example
below shows the relationship between the array variable and
the variable number
Example:
– B[0] is same as B000.
– If B001 = 2, then D[B001] is same as D002.
This is especially useful when used inside of FOR loops
where the loop index can be used to change the variable.
For example, the FOR loop shown below would shift by the
value of P001 in the first loop, P002 in the second loop,
P003 in the third loop, etc.…
– FOR I002 = 1 to 10
ShiftOn P[I002]
…
ShiftOff
Next I002
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