INDEX

A start 163
stop 165
Abs 525 Close 153, 159, 167
absolute value 525 comment 169
acceleration reduction 135, 315 common drive unit 137, 177
AccSet 135, 315 Compact IF 209
ACos 527 condition 211
ActUnit 137 confdata 11
Add 139 ConfJ 171
AliasIO 141 ConfL 173
analog output CONNECT 175
set 373 corner path 81, 121
AOutput 529 Cos 555
arcus cosine 527 CPos 557
arcus sine 531 CRobT 545, 559
arcus tangent 533, 535 CTime 561
arithmetic 133 CTool 563
array CWobj 565
get size 575
ASin 531 D
assignment 133
ATan 533 date 549
ATan2 535 DeactUnit 177
Decr 179
B decrease velocity 485
decrement 179
bit manipulation 7 DefDFrame 567
bool 5 DefFrame 571
Break 145 digital output 581
byte 7 pulse 331
C reset 341
set 371, 375
C_MOTSET 95 Dim 575
C_PROGDISP 95 dionum 19
call 147 displace
CallByVar 149 position 609
CDate 549 displacement
circular movement 273, 279, 283 tool direction 647
CJointT 541, 551 displacement frame 567, 571
Clear 157 DotProd 579, 605, 693
ClkRead 553 DOutput 581
ClkReset 161
ClkStart 163 E
ClkStop 165 EOffsOff 181
clock 9 EOffsOn 183
read 553 EOffsSet 185
reset 161 erase teach pendant display 411

System Data Types and Routines 4-695

 ERRNO 95 activate 255
errnum 21, 99 at a position 437
error recovery connect 175
retry 345, 459 deactivate 247
ErrWrite 187 delete 203
EulerZYX 583 disable 205
EXIT 189 enable 207
ExitCycle 191 from digital input 239
Exp 585 identity 29
exponential value 537, 585, 623, 671 timed 249
external axes INTNO 95
activate 137 intnum 29
deactivate 177 InvertDO 215
extjoint 25 IO unit
disable 217
F enable 221
file iodev 3, 31
close 153, 159, 167, 349 IODisable 217
load 259, 353, 391 IOEnable 221
open 311 ISignalDI 239
read 627, 633, 637, 643 ISignalDO 243
rewind 349 ISleep 247
spystart 225, 235 IsPers 595
tsigrset 409 IsVar 597
unload 469, 477, 577 ITimer 249
write 337, 489, 493, 495, 499 IVarValue 253
fine 81, 121 IWatch 255
fly-by point 81, 121 J
FOR 193
frame 571 joint movement 287, 291, 295
Functions 197 jump 199
G L
GetTime 593 label 257
GOTO 199 linear movement 299, 303, 307
GOutput 529, 591 Load 259, 353, 391
GripLoad 201 load
group of I/O 377, 529, 591 activate payload 201
loaddata 35
I loadsession 41
logical value 5
IDelete 203
IDisable 205 M
IEnable 207
IF 209, 211 maximum velocity 485
Incr 213 MaxRobSpeed 599
increment 213 mechanical unit 43
interrupt activate 137

4-696 System Data Types and Routines

 deactivate 177 payload 35
MechUnitLoad 97, 263 activate 201
mecunit 43 PDispOff 323
MirPos 601 PDispOn 325
mirroring 601 pos 61
motsetdata 45 pose 63
MoveAbsJ 267 PoseInv 617
MoveC 273 PoseMult 619
MoveCDO 279 position fix I/O 443
MoveCSync 283 Pow 623, 671
MoveJ 287 Present 625
MoveJDO 291 ProcCall 147
MoveJSync 295 procedure call 147, 149
MoveL 299 program displacement
MoveLDO 303 activate 325
MoveLSync 307 deactivate 323
movement remove from position 615
circle 273, 279, 283 PulseDO 331
joint 287, 291, 295
linear 299, 303, 307 Q

N quaternion 56

num 51 R
numeric value 51
RAISE 335
NumToStr 607
read
O clock 553
current date 549
o_jointtarget 53 current joint angles 541, 551
object coordinate system 113 current robot position 545, 559
Offs 609 current time 561, 593
offset 609 current tool data 563
Open current work object 565
file 311 digital output 581
serial channel 311 file 627, 633, 637, 643
operating mode function key 413
read 611 group of outputs 529, 591
OpMode 611 serial channel 627, 633, 637, 643
orient 55 ReadBin 627
OrientZYX 613 ReadMotor 631
ORobT 615 ReadNum 633
output ReadStr 637, 643
at a position 443 RelTool 535, 571, 611, 623, 647, 651
repeat 193, 487
P Reset 341
path resolution RestoPath 343
change 319 RETRY 345
PathResol 319 RETURN 347
Rewind 349

System Data Types and Routines 4-697

 robot position 59, 69 string 89
robtarget 59, 69 StrLen 659
Round 649 StrMap 661
routine call 147 StrMatch 663
RunMode 651 StrMemb 665
running mode StrOrder 667
read 651 StrPart 669
StrToVal 675
S symnum 93
SearchC 357 system data 95
SearchL 363 T
serial channel
close 153, 159, 167 Tan 677
file 337, 493, 495, 499 TEST 403
open 311 TestDI 683
read 627, 633, 637, 643 TestSignDefine 405
rewind 349 TestSignReset 409
write 489 text string 89
Set 371 time 561, 593
SetAO 373 tooldata 101
SetDO 375 TPErase 411
SetGO 377 tpnum 107
shapedata 73 TPReadFK 413
signalai 75 TPReadNum 417
signalao 75 TPShow 421
signaldi 75 TPWrite 423
signaldo 75 TriggC 425
signalgi 75 triggdata 109
signalgo 75 TriggEquip 431
Sin 653 TriggInt 437
SingArea 379 TriggIO 443
soft servo TriggJ 447
activating 381 TriggL 453
deactivating 383 Trunc 685
SoftAct 381 TRYNEXT 459
SoftDeact 383 TuneReset 461
speeddata 77 TuneServo 463
SpyStart 225, 235, 385 tunetype 111
SpyStop 389
Sqrt 655 U
square root 655
UnLoad 469, 477, 577
StartMove 395
user coordinate system 113
Stop 397
stop point 81, 121 V
StopMove 399
stopwatch 9, 163 ValToStr 691
StorePath 401 velocity 77
StrFind 657 decrease 485

4-698 System Data Types and Routines

 max. 485
VelSet 485

wait
a specific time 481
any condition 483
digital input 473
digital output 475
until the robot is in position 481
WaitDI 473
WaitDO 475
WaitTime 481
WaitUntil 483
WHILE 487
wobjdata 113
work object 113
Write 489
write
error message 187
on the teach pendant 421, 423
WriteBin 495
WriteStrBin 337, 493, 499
WZBoxDef 501
WZCylDef 503
WZDisable 507
WZDOSet 509
WZEnable 513
WZFree 515
WZLimSup 517
WZSphDef 521
wzstationary 117
wztemporary 119

zonedata 81, 121

System Data Types and Routines 4-699

4-700 System Data Types and Routines