Position Type

Data type storing robot's teaching position. The number of elements is 7. This data type is expressed by three-dimensional space coordinates, a rotation angle of each coordinate and FIG elements representing robot figures.

(X, Y, Z, Rx, Ry, Rz, FIG)

X, Y, Z

TCP point position in three-dimensional space is expressed by these position components by X-, Y- and Z-axis coordinate values. The unit is "mm." Individual values are single precision real number type data.

Rx, Ry, Rz

TCP point posture in three-dimensional space is expressed by these posture components by rotation angles around the X-, Y- and Z axes. The unit is "deg."Individual values are single precision real number type data.

FIG

FIG component representing the Robot Figure (6th-Axis, 4th-Axis).
You can use a function that selects an appropriate value automatically.
For details, refer to "Automatic Figure Selection Function (Auto Fig)".

Assignment of Immediate Data by Program Description

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

E.g. P(100,0,300,0,0,45,-1)

P(X [,Y [, Z [,Rx [,Ry [,Rz [,Fig ]]]]]])

X

This is a required value representing the X coordinate value.

Y

This is an optional value that represents the Y coordinate value. If this is omitted, 0 is assigned.

Z

This is an optional value that represents the Z coordinate value. If this is omitted, 0 is assigned.

Rx

This is an optional value that represents rotation angle value around X axis. If this is omitted, 0 is assigned.

Ry

This is an optional value that represents rotation angle value around Y axis. If this is omitted, 0 is assigned.

Rz

This is an optional value that represents rotation angle value around Z axis. If this is omitted, 0 is assigned.

FIG

This is an optional value representing the robot figure. If this is omitted, -1 is assigned.

Global Variable

Global variable of position type data is P type.

Local Variable

Local variable of position type data is defined by "Position."

Dim aaa As Position
aaa = P(100, 200, 300, 45, 90, 180, 7)

Precautions for Position Type Data

If a local position type variable is declared, data assigned with initial values are created. Initial value is "P(0, 0, 0, 0, 0, 0, -1)."

Use functions such as LetZ to assign only a part of position type data elements. For immediate data assignment, omitted element(s) is replaced by "0" and "-1."