Denso RC5 Specifications download pdf (Page 23)

100

101

Commands Listed in Alphabetical Order

4-axis 6-axis

Vision

device

¤¤¤Available with all series of robots and vision device.

¡¡¡

Available with all series of robots. The command

ecifications differ between the 4-axis, 6-axis robot,

and vision device.

¤ V1.2

Available with the 4-axis robots and the 6-axis robots

of Version 1.2 or later.

Commands Functions

4-axis 6-axis

Vision

device

Refer

to:

#define Replaces a designated constant or macro name in

the program with a designated character string.

¤¤¤20-1

#error

Forcibly generates a compiling error if the #error

command is executed.

¤¤¤20-3

#include Fetches the preprocessor program. ¤¤¤20-4

#pragma optimize

Designates optimization to be executed for each

program.

¤¤¤20-5

#undef Makes a symbol constant defined with #define or

macro definition invalid.

¤¤¤20-2

ABS Obtains the absolute value of an expression value. ¤¤¤15-1

ACCEL

Designates internal acceleration and internal

deceleration.

¤¤ 12-47

ACOS Obtains an arc cosine. ¤¤¤15-12

APPROACH Executes the absolute movement designated in the

tool coordinate system.

¡¡ 12-1

AREA Declares the area where an interference check is

performed.

¡¡ 9-2

AREAPOS

Returns the center position and direction of a

rectangular parallelepiped with the position type for

an area where an interference check is performed.

¤¤ 15-46

AREASIZE Returns the size (each side length) of a rectangular

parallelepiped which defines the interference check

area with the vector type.

¤¤ 15-47

ARRIVE Defines the motion ratio relative to the programmed

full travel distance to the target point in order to make

the current program stand by to execute the next step

until the robot reaches the defined motion ratio.

¤ V1.2 12-32

ASC Converts to a character code. ¤¤¤15-50

ASIN Obtains an arc sine. ¤¤¤15-13

ATN Obtains an arc tangent. ¤¤¤15-14

ATN2 Obtains the arc tangent of expression 1 divided by

expression 2.

¤¤¤15-15

AVEC Extracts an approach vector. ¤¤ 15-24

BIN$

Converts the value of an expression to a binary

character string.

¤¤¤15-51

BLOB Executes labeling. ¤¤¤21-67

BLOBCOPY Copies an object label number. ¤¤¤21-74

BLOBLABEL Obtains the label number for designated coordinates. ¤¤¤21-72

BLOBMEASURE Executes feature measurement of the object label

number.

¤¤¤21-70

BUZZER Sounds a buzzer. ¤¤ 13-22

1 2 ... 18 19 20 21 22 23 24 25 26 27 28 ... 691 692

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Denso RC5 Specifications Page 23

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