Functions: Operation-Specific; Functions: Operation-Specific - Omron SCARA YRCX Series Programming Manual

Functions: operation-specific

8
Point related functions
No.
9
50
56
86
10
141
143
11
144
Parameter related functions
12 No.
2
3
4
13
4
5
6
7
10
17
18
21
53
58
65
72
73
76
88
89
90
91
92
93
133
134
139
8-16 Chapter 8 Robot Language Lists
Function name
Converts joint coordinate data to Cartesian coordinate data of a specified robot.
JTOXY
(↔XYTOJ)
LOCx Acquires point data for a specified axis or shift data for a specified element.
PPNT Creates point data specified by a pallet definition number and pallet position number.
Reads out the current position of the arm of a specified robot in joint coordinates
WHERE
(pulse).
Reads out the current position of the arm of a specified robot as Cartesian
WHRXY
coordinates (mm, degrees).
Converts the point variable Cartesian coordinate data to the joint coordinate data
XYTOJ
of a specified robot. (↔JTOXY).
Function name
Acquires the machine reference value for specified robot axes. (Valid only for
ABSRPOS
axes whose return-to-origin method is set as "mark".)
ACCEL Acquires the acceleration coefficient parameter of a specified robot.
ARCHP1 Acquires the arch position 1 parameter of a specified robot.
ARCHP2 Acquires the arch position 2 parameter of a specified robot.
ARMCND Acquires the current arm status of a specified robot.
ARMSEL Acquires the current "hand system" setting of a specified robot.
ARMTYP Acquires the "hand system" setting of a specified robot.
AXWGHT Acquires the axis tip weight parameter of a specified robot.
CURTQST Acquires the current torque value ratio of a specified axis to the rated torque.
CURTRQ Acquires the current torque value of the specified axis of a specified robot.
DECEL Acquires the deceleration rate parameter of a specified robot.
LEN Acquires the length (byte count) of a specified character string.
Acquires the return-to-origin or absolute-search machine reference for specified
MCHREF robot axes. (Valid only for axes whose return-to-origin method is set as "sensor"
or "stroke-end".)
MTRDUTY Acquires the motor load factor of the specified axis.
ORD Acquires the character code of the first character in a specified character string.
Acquires the axis sequence parameter for performing return-to-origin and an
ORGORD
absolute search operation of a specified robot.
OUTPOS Acquires the "OUT position" parameter of a specified robot.
PSHFRC Acquires the "Push force" parameter.
PSHJGSP Acquires the push judge speed threshold parameter.
PSHMTD Acquires the push method parameter.
PSHRSLT Acquires the status at the end of the PUSH statement.
PSHSPD Acquires the push speed parameter.
PSHTIME Acquires the push time parameter.
TOLE Acquires the tolerance parameter of a specified robot.
Acquires the maximum torque command value which can be set for a specified
TORQUE
axis of a specified robot.
WEIGHT Acquires the tip weight parameter of a specified robot.
Description
Description