Denso RC5 Especificações descarregar pdf (Página 165)

100

101

Chapter 7 PAC Language Configuration Elements

7-7

[ 2 ] Local Variable

The following variable types can be used for local variables in the same

manner as global variables.

• Type I: integer type (range: - 2147483648 ~ + 2147483647)

• Type F: single precision real type (-3.402823E + 38 ~ 3.402823E + 38)

• Type D: double precision real type

(- 1.79769313486231D + 308 ~ 1.79769313486231D + 308)

• Type S: character string type (maximum 247 characters)

• Type V: vector type (X, Y, Z)

• Type P: position type (X, Y, Z, RX, RY, RZ, FIG) (6 axes )

• Type J: joint type (J1, J2, J3, J4, J5, J6) (6 axes )

• Type T: homogeneous transformation type

(Px, Py, Pz, Ox, Oy, Oz, Ax, Ay, Az, FIG)

• Type IO: I/O type

Local variables can be used after type declaration is executed using type

declaration commands.

Type declaration can also be executed using the type declaration characters

for numeric value type and character string type local variables. For type

declaration commands and type declaration characters, refer to “8.6

Declaration Statement.”

Note (1): If a variable is used without type declaration, it functions as

a single precision real type variable. However, if a variable

without type declaration is used, it may cause a

programming error. Therefore, type declaration should be

executed if possible.

Note (2): In the default setting of the personal computer teaching

system WINCAPSII, “Explicit type declaration is always

required” is set. If this is set and type declaration is

ignored, an error will occur when compiling is carried out. If

there are no special considerations, use the system with

this setting.

Note (3): If local variables other than the I/O type are referred to in the

program, a certain value must be assigned to the local

variable (initialization of variable) before referring to it. If a

variable is referred to without this local variable

initialization, an error will occur in execution. Variables can

be initialized by describing an assignment statement for the

variable in the program beforehand or by using DEFINT A =

1, for example, to describe it in the variable declaration

section of the program for variables other than array

variables.

Note (4): If you restart the program when a program having local

variables is called using CALL and it is being executed or in

the wait or hold status, the system should have two tasks :

one is created by the first call and the other is created at

restart. Although they are different tasks the same program

cannot secure independence of the local variables and thus

the robot may perform some unexpected or incorrect action.

To avoid this, do not start the program independently when

the program is called using the CALL command.

Note (5): Types V, P, J, and T are not available with vision equipment

µµ

µVision-21.

1 2 ... 160 161 162 163 164 165 166 167 168 169 170 ... 691 692

Comentários a estes Manuais

Sem comentários

Denso RC5 Especificações Página 165

Comentários a estes Manuais

Manuais e produtos relacionados com Robótica Denso RC5