Denso RC5 Specifications download pdf (Page 29)

100

101

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:

printb

Outputs a single byte of data to the RS-232C or

Ethernet port.

V1.5 V1.5 13-13

PRINTDBG Outputs data to the debug window. ¤¤ 13-21

PRINTLBL Sets a label (caption) for a user definition button. ¤¤ 13-23

PRINTMSG

Displays a message with a caption and icon on the

color LCD of the teach pendant.

¤¤ 13-20

PROGRAM Declares a program name. ¤¤¤9-1

PVEC Extracts a position vector. ¡¡ 15-26

RAD Converts a value set in radians to degrees. ¤¤¤15-20

RADDEG Converts the unit to degrees. ¤¤¤15-21

REM Describes a comment. ¤¤¤11-23

REPEAT-UNTIL Executes a tail decision iteration. ¤¤¤11-15

RESET Sets an I/O port to OFF. ¤¤¤13-7

RESETAREA Initializes an interference check. ¤¤ 12-67

RESUME Returns from an interruption process routine. ¤¤ 18-5

RETURN Returns from a subroutine. ¤¤¤11-8

RIGHT$ Extracts the right part of a character string. ¤¤¤15-61

RND Generates random numbers from 0 to 1. ¤¤¤15-9

ROTATE Executes a rotation movement around the designated

axis.

¡¡ 12-19

ROTATEH Executes rotary motion by taking an approach vector

as an axis.

¤¤ 12-22

RUN Concurrently runs another program. ¤¤ 14-1

RVEC Extracts a figure. ¤ 15-45

SEC Converts a value expressed in seconds to

milliseconds.

¤¤¤15-23

SELECT CASE Executes a plural condition decision. ¤¤¤11-19

SET Sets an I/O port to ON. ¤¤¤13-5

set_button Sets button parameters. V1.5 V1.5 13-27

set_page Sets page parameters. V1.5 V1.5 13-30

SETAREA Selects the area where an interference check is

performed.

¤¤ 12-66

SGN Checks a sign. ¤¤¤15-10

SHCIRCLE Searches for a circle. ¤¤¤21-90

SHCLRMODEL Deletes a registered model. ¤¤¤21-80

SHCOPYMODEL Copies a registered model. ¤¤¤21-79

SHCORNER Searches for a corner. ¤¤¤21-87

SHDEFCIRCLE Sets the condition for searching a circle. ¤¤¤21-89

SHDEFCORNER Sets the conditions for a corner search. ¤¤¤21-86

SHDEFMODEL Registers the search model. ¤¤¤21-76

SHDISPMODEL Displays a registered model on the screen. ¤¤¤21-81

SHMODEL Searches for a model. ¤¤¤21-82

SHREFMODEL Refers to registered model data. ¤¤¤21-78

SIN Obtains a sine. ¤¤¤15-17

SPEED Specifies the internal composite speed of joints

included in a currently held arm group.

¤¤ 12-44

SPRINTF$

Converts an expression to a designated format and

returns it as a character string.

¤¤¤15-53

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Denso RC5 Specifications Page 29

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