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"
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, coordin ate
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 {___}.