4.3.13 Joint constants .............................................................................................................. 4-133
4.3.14 Angle value ................................................................................................................... 4-134
4.3.15 Variables ....................................................................................................................... 4-134
4.3.18 Position variables .......................................................................................................... 4-135
4.3.19 Joint variables ............................................................................................................... 4-136
4.3.21 Array variables .............................................................................................................. 4-136
4.3.22 External variables ......................................................................................................... 4-137
4.4 Logic numbers ...................................................................................................................... 4-144
4.5 Functions .............................................................................................................................. 4-144
(1) User-defined functions ................................................................................................. 4-144
(2) Built-in functions ........................................................................................................... 4-144
4.6 List of Instructions ................................................................................................................. 4-147
(4) Multi-task related ......................................................................................................... 4-148
(5) Others .......................................................................................................................... 4-149
4.7 Operators .............................................................................................................................. 4-150
4.10 Reserved words .................................................................................................................. 4-151
5.1 Movement parameter ............................................................................................................ 5-343
5.2 Signal parameter ................................................................................................................... 5-351
(1) Case (A) ..................................................................................................................................................................... 5-354
(2) Case (B) ..................................................................................................................................................................... 5-355
5.3 Operation parameter ............................................................................................................. 5-356
5.4 Command parameter ............................................................................................................ 5-359
5.8 About user-defined area ....................................................................................................... 5-367
5.9 Free plane limit ..................................................................................................................... 5-368
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