Denso RC5 Spécifications télécharger pdf (Page 26)

100

101

4-axis 6-axis

Vision

device

¤¤¤Available with all series of robots and vision device.

¡¡¡

Available with all series of robots. The command

ecifications differ between the 4-axis, 6-axis robot,

and vision device.

¤ V1.2

Available with the 4-axis robots and the 6-axis robots

of Version 1.2 or later.

Commands Functions

4-axis 6-axis

Vision

device

Refer

to:

ERR Obtains an error number that occurred. ¤¤ 18-2

ERRMSG$ Sets an error message. ¤¤¤18-3

EXIT DO Forcibly exits from DO-LOOP. ¤¤¤11-11

EXIT FOR Forcibly exits from FOR-NEXT. ¤¤¤11-14

EXP

Obtains an exponential function with a natural

logarithm taken as a base.

¤¤¤15-2

FALSE Sets a value of false (0) to a Boolean value. ¤¤¤16-4

FIG Extracts a figure. ¡¡ 15-36

FIGAPRL

Calculates figures at an approach position and a

standard position available to move in CP motion.

¡¡ 12-37

FIGAPRP Calculates an approach position where the PTP

motion is available, and a reference position figure.

¡¡ 12-39

FLUSH Clears the input buffer. ¤¤¤13-12

FLUSHSEM Releases tasks from waiting for a semaphore. ¤¤ 14-11

FOR-NEXT Repeatedly executes a series of instructions between

FOR-NEXT sections.

¤¤¤11-12

GETENV Obtains the environment setting values of the system. ¤¤¤19-1

GetSrvData Gets the internal servo data of robot joints. V1.5 V1.5 12-69

GetJntData Gets the internal servo data of a specified joint. V1.5 V1.5 12-70

GIVEARM Releases robot control priority. ¤¤ 14-19

GIVESEM Releases a task from waiting for a semaphore. ¤¤ 14-12

GIVEVIS Releases visual process priority. ¤¤ 14-21

GOHOME Moves to the position (home position) defined by the

HOME statement.

¤¤ 12-13

GOSUB Calls a subroutine. ¤¤¤11-6

GOTO Unconditionally branches a program. ¤¤¤11-21

HALT Stops executing a program. ¤¤ 12-41

HEX$ Obtains a value converted from a decimal to a

hexadecimal number as a character string.

¤¤¤15-56

HOLD Holds program processing for a time. ¤¤ 12-40

HOME Declares arbitrary coordinates as a home position. ¡¡ 9-5

IF-END IF Conditionally decides a conditional expression

between IF-END IF.

¤¤¤11-17

IF-THEN-ELSE Executes a conditional decision of a logical

expression.

¤¤¤11-18

Reads data from the I/O port designated by an I/O

variable.

¤¤¤13-1

INIT Turns on motors, carrier out CAL, and sets the speed

according to the preset supervisor task parameters.

V1.7 V1.7 12-68

INPUT Obtains data from the RS232C or Ethernet port. ¤¤¤13-8

inputb Inputs a single byte of data from the RS-232C or

Ethernet port.

V1.5 V1.5 13-14

INT

Obtains the maximum integer value possible from a

designated value.

¤¤¤15-3

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Denso RC5 Spécifications Page 26

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