Hyundai HI4 operation manual Variable, Global variable

11.Robot Language Explanation

------------------------------------------------------------------------------------------------

11.1.6Variable

11.1.6.1 Global variable

It can be shared and used in whole program.

variable type		grammar		example
		V1%∼V400%	or	V10%, V%[20], V%[50+V2%]
	contsant			(The type of numerical formula can be written in
		V%[1]∼V%[400]
arithmetic				[ ].)
	real	V1!∼V400!	or	V10!, V![20], V![50+V2%]
	number	V![1]∼V![400]
strings		V1$∼V40$ or		V10$, V$[20], V$[V2%]
		V$[1]∼V$[40]
		P1∼P999	or	P50, P[70], P[50+V2$] , P[20].RZ, P[10].X
pose				(The access to the elements (X, Y, Z, RX, RY, RZ,
		P[1]∼P[999]
				T1, T2,... T6, CFG) are available.)
		R1∼R100	or	R20, R[30], R[20+V2$], R[20].RZ, R[10].X
shift				(The access to the elements (X, Y, Z, RX, RY, RZ)
		R[1]∼R[100]
				are available.)
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 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.

----------------------------------------------------------------------------------------

11 - 6