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STE 58762
－ －
2-17
Examples:
P1 = POINT(P2.X, P2.Y, P2.Z + 50, 0, 0)
C1 = C2 + TRANS(100, 100)
The more alert reader may have noticed that something is missing in the second example. That is,
although the TRANS command is used to create coordinate vector types (which have four
elements), only two numbers (100 and 100) have been assigned in the command. This will not
cause any problems, however, since missing numbers will be assumed to be "0". Here, the
second example will be considered as:
C1 = C2 + TRANS(100, 100, 0, 0)
As you will recall, positional and coordinate vectors have the following format:
Positional data POINT (X, Y, Z, C, T <CONFIG>)
Coordinate data TRANS (X, Y, Z, C)
X, Y, Z, C and T are coordinate values represented by real numbers. Units are in millimeters or
degrees.
<CONFIG> stands for "configuration" and holds an integer from 0 to 2 that is used to describe the
set-up of the system.
0 ... Free (Set-up of the system is undefined)
1 ... Left hand system
2 ... Right hand system
Any omitted elements are taken as "0".
Note 1:
In order to make it clear just what kind of data type you are using, always try to use the POINT
command when creating positional type data and the TRANS command when creating coordinate
type data.
Note 2:
When position data which have not been taught are used in a program of the robot language, the
position data are temporarily stored in the controller memory. Thus, when the program is reset, the
position data are cleared. The position data are only valid in the program which uses data.
Therefore, to use the position data in a subprogram, it is necessary to pass it as an argument. For
details of arguments, see "2.8.2 Subprograms."