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STE 58762
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2-8
Vector type data other than the vector type global variable such as data taught by the data editor
are temporarily stored in the working area of the controller. The data are not created in the file.
The vector type variable can be used only in the declared program. Thus, even if the same
variable is used in another program, the content of the former does not accord with that of the latter.
When data are passed from one program to another program, the passed data should be redefined
as the vector type global variable or it should be an argument. For details of arguments, see "2.8.2
Subprograms."
(1) Positional data
Positional data is used by the robot to describe positions. Positional vectors have the following
format.
(X, Y, Z, C, T, <configuration>)
X, Y, Z, C and T are coordinate values represented by real numbers. Units are in millimeters or
degrees.
<Configuration> holds an integer from 0 to 2 that describes the set-up configuration of the system.
0 ... Free (Set-up of the system is undefined)
1 ... Left hand system
2 ... Right hand system
(2) Coordinate data
Coordinate data is used by the robot to specify coordinate systems. Coordinate vectors have the
following format:
(X, Y, z, C)
X, Y, Z and C are coordinate values represented by real numbers. Units are in millimeters or
degrees.
Coordinate vectors allow one to convert between different coordinate systems as shown in Figure
2.1. In the figure, we have an original coordinate system X, Y and Z. Then, with data provided by
a coordinate vector (x, y, z, c), the original coordinate system is shifted parallel along its axes by the
amounts x, y and z. This forms a new coordinate system centered about 0'. Once this is done,
we twist the new coordinate system around the Z' axis by an amount c. We are now finished
orientating our new coordinate system.