4.4.1 Statement ....................................................................................................................... 4-135
4.4.2 Appended statement ....................................................................................................... 4-135
4.4.3 Step ................................................................................................................................ 4-135
4.4.4 Step No. .......................................................................................................................... 4-135
4.4.5 Label ............................................................................................................................... 4-135
(2) Underscore ( _ ) ........................................................................................................... 4-137
(3) Apostrophe ( ' ) ............................................................................................................. 4-137
(4) Asterisk ( * ) .................................................................................................................. 4-137
(5) Comma ( , ) .................................................................................................................. 4-137
(6) Period ( . ) ..................................................................................................................... 4-137
(7) Space ........................................................................................................................... 4-137
4.4.8 Data type ........................................................................................................................ 4-138
4.4.9 Constants ........................................................................................................................ 4-138
(1) Decimal number ........................................................................................................... 4-138
(2) Hexadecimal number ................................................................................................... 4-138
(3) Binary number .............................................................................................................. 4-138
(4) Types of constant ......................................................................................................... 4-138
4.4.12 Position constants ......................................................................................................... 4-139
4.4.13 Joint constants .............................................................................................................. 4-140
4.4.14 Angle value ................................................................................................................... 4-141
4.4.15 Variables ....................................................................................................................... 4-141
4.4.18 Position variables .......................................................................................................... 4-142
4.4.19 Joint variables ............................................................................................................... 4-143
4.4.21 Array variables .............................................................................................................. 4-143
4.4.22 External variables ......................................................................................................... 4-144
4.5.3 About position data ......................................................................................................... 4-149
4.6 Robot status variables .......................................................................................................... 4-155
4.6.1 Logic numbers ................................................................................................................ 4-159
4.7 Functions .............................................................................................................................. 4-160
(1) User-defined functions ................................................................................................. 4-160
(2) Built-in functions ........................................................................................................... 4-160
4.8 List of Command ................................................................................................................... 4-163
(3) Definition commands .................................................................................................... 4-164
(4) Multi-task related .......................................................................................................... 4-165
iv
Contents
Page