Angle Value; Variables - Mitsubishi Electric CR750-Q Instruction Manual

Use of variables in joint element data
The axis data is called the joint element data.
A variable cannot be contained in the joint constant data that configures the joint constant.

4.4.14 Angle value

The angle value is used to express the angle in "degrees" and not in "radian".
If written as 100Deg, this value becomes an angle and can be used as an argument of trigonometric func-
tions.
Example) Sin(90Deg)............... A 90 degree sine is indicated.

4.4.15 Variables

A variable name should be specified using up to eight characters.
The variable types include the numeric value type, character string type, position type, joint type and I/O
type. Each is called a "variable type". The variable type is determined by the head character of the identifier
(variable name).
The numeric value type can be further classified as integer type, single-precision real number type, or dou-
ble-precision real number type.
The following two types of data valid ranges are used.
1. Local variable valid only in one program
2. Robot status variable, program external variable and user-defined external variable valid over programs.
(The user-defined external variable has a _ for the second character of the variable name. Refer to
144, "4.4.22 External variables"
Types of variable
Variables
Note 1) The identifiers include those determined by the robot status variable
Variables are not initialized
The variables will not be cleared to zero when generated, when the program is loaded, or when reset.
for details.)
Local variable (valid only within the program)
External variables
Numeric value type
(Starts with M)
Character string type
(Starts with C)
Position type
(Starts with P)
Joint type
(Starts with J)
I/O type
(M_IN,M_OUT, etc.), and those declared in the program with the DEFIO command.
System status variables
Program External Variables
User-defined External Variables
Integer type
Single-precision real number type
Double-precision real number type
Note 1)
Detailed specifications of MELFA-BASIC V 4-141
4MELFA-BASIC V
Page
P1, M1 , etc.
P_CURR, M_IN , etc.
P_00, M_00 , etc.
P_100, M_100 , etc.