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11. Robot Language Explanation
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11 - 7
11.1.6.2 Local variable
It exists separately in each main program and auxiliary program called. It is impossible
to access local variables of other program.
Reference
(1) Pose type elements and shift type elements are dealt as real number type.
(2) The number of pose element T1, T2... should be matched with the number of additional
axis.
(3) When pose is a encoder type, (S, H, V, R2, B, R1) elements can be accessed by using each
X, Y, Z, RX, RY, RZ.
(4) At the time when controller's system is initialized, all arithmetics type variables,
pose and variable elements become 0, and string variables are initialized to blank string.
It is not initialized automatically when the cycle begins and program is changed.
(5) All variables are reserved even though the power is turned off.
variable type grammar example
constant
LV1%∼LV50% or
LV%[1]∼LV%[50]
LV10%, LV%[5], LV%[5+LV2%]
(The type of numerical formula is only written
in [ ].)
arithmetic
real
number
LV1!∼LV50! or
LV![1]∼LV![50]
LV10!, LV![5], LV![5+LV2%]
string
LV1$∼LV10$ or
LV$[1]∼LV$[10]
LV10$, LV$[5], LV$[LV2%]
pose
LP1∼LP100 or
LP[1]∼LP[100]
LP5, LP[7], LP[5+LV2$], LP[2].RZ, LP[10].X
(Access to elements (X, Y, Z, RX, RY, RZ, T1,
T2,... T6, CFG) is possible.)
shift
LR1∼LR50 or
LR[1]∼LR[50]
LR2, LR[3], LR[2+LV2$], LR[2].RZ, LR[10].X
(Access to elements (X, Y, Z, RX, RY, RZ) is
possible.)