Denso RC5 Especificações descarregar pdf (Página 170)

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7.8 Constant

A constant is an expression with a fixed value.

Constants in the PAC language are classified into the following.

1 Numeric value data Type I: integer type constant

Type F: single precision real type constant

Type D: double precision real type constant

2 Character string

data

Type S: character string type constant (maximum of

247 characters)

3 Vector data Type V: vector type constant (X,Y,Z)

4 Pose data Type P:

position type constant (X,Y,Z,RX,RY,RZ,FIG) (in

case of 6 axes)

Type J:

joint type constant (J1,J2,J3,J4,J5,J6) (in case

of 6 axes)

Type T: homogeneous transformation type constant

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

(Each element of type V, P, J, and T is single

precision real.)

Constants of each type are explained as follows.

7.8.1 Numeric Value Constant

[ 1 ] Integer Type Constant

This constant is an integer from -2147483648 to +2147483647.

There are 3 kinds of notations for integer type constants: decimal, binary and

hexadecimal.

Decimal Format

This is an integer type constant expressed using decimal numbers.

If you add an integer type postposition “%” to a real type within a range of –

2147483648 to +2147483647, it is regarded as a constant integer type with the

digits after the decimal point rounded down.

Example: 32767

-125

+10

3256.21% → Since this is an integer type

postposition, it is regarded as 3256.

Binary Format

This is an integer type constant expressed using binary numbers.

This is expressed by an arrangement of 0s and 1s using “&B” at the head of

the numeric value.

If the range for a numeric value of an integer type constant is expressed in the

binary format, it is

&B0~&B11111111111111111111111111111111

(in the range of 32 bits).

Example: &B110

&B0011

1 2 ... 165 166 167 168 169 170 171 172 173 174 175 ... 691 692

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