Toshiba STE 58762 instruction manual Vector Data, － 2-7 －

STE 58762

Example)

1234.567 -28.16

0.00985

1234567. -369.

As mentioned above, the precision of the computer is somewhat limited when handling decimal values. Usually this is no problem if the number of decimal places is reasonable. Therefore, when working with the robot, try to use the following as the minimum set units.

Distance (x, y, and z data)	0.001 mm
Angles (C data)	0.001 deg.
Time	0.01 sec.
Rates (Speed, torque, etc.)	1%
Mass	0.01 kg
Inertia	0.01kg.m

(b) Variables

Variables are distinguished by identifiers and have the same range as listed above for constants. The data type of a variable is determined by the data type of the first number you assign to that variable. For example, if the first thing you assign to a variable is a real number, that variable will become a real type.

(3) Character strings

Character strings can only handle constants. They are expressed by placing one or more characters between quotation marks. In the example below, the character string is SCOL MESSAGE.

Example) "SCOL MESSAGE"

2.4.2Vector Data

As opposed to scalar-type data which only holds one data element, vector-type data holds multiple data elements. There are three types of vector data in SCOL; positional vectors, coordinate vectors and load vectors.

Vectors hold one to five data elements. With commands such as POINT and TRANS which create vector-type data, elements are expressed by enclosing them in brackets {___}. With commands such as MOVE and TORQUE which use vector type data, elements are assigned and expressed by enclosing them in slightly different brackets {___}.

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