Joint Type

Data type expressing robot's teaching position. An axis value of each robot axis is an element. The number of elements is 8. Joint type data are used with 8 elements even in a 4-axis robot, etc.

(J1, J2, J3, J4, J5, J6, J7, J8)

The unit is of "axis values" is "deg" for rotation axes or "mm" for linear motion axes.

Assignment of Immediate Data by Program Description

Immediate data expression can be described on a program as follows.

E.g. J(10, 20, 30, 40, 50, 60, 70, 80)

J(J1 [, J2 [, J3 [, J4 [, J5 [, J6 [, J7 [, J8 ]]]]]]])

J1

This is a required value representing an axis value of the first axis.

J2 to J8

This is an optional value representing axis values of the axes. If this is omitted, 0 is assigned.

Global Variable

Global variable of joint type data is J type.

Local Variable

Local variable of joint type data is defined by "Joint."

Dim aaa As Joint
aaa = J(10,20,30,40)

Precautions for Joint Type Data

Partial joint type data elements cannot be assigned. For immediate data assignment, "0" is assigned for omitted element(s).

Dim bbb As Joint
bbb = CurJnt
bbb = J(10) 'bbb is J(10, 0, 0, 0, 0, 0, 0, 0).

Joint type data value varies depending on robots even in the same position in three-dimensional space.

Related Terms

Dim, CurJnt, LetJ, Joint, J2P, J2T, P2J, T2J