Index
PROGRAMMER'S MANUAL
> Programming Guide
> What is PacScript
> Configuration of PacScript
> Program Files
> Header File
> Definition of Variant.h
> Naming convention
> Reserved Words
> About File Path
> Compile
> Saving and Changing Data
> Units in PacScript
> Task
> Supervisory Task
> File Path and Task
> Task Priority
> Task Status
> Panel Screen Task
> Mutex Object
> Program Example 1 for Exclusion Control
> Program Example 2 for Exclusion Control
> Program Example 3 for Exclusion Control
> Difference of Task
> Example of Program for Status Monitoring
> Axis Control
> Preprocessor
> Preprocessor Format
> Macro Definition
> Embedded Macro
> Program Code Encryption
> Procedure
> Program File and Procedure
> Entry Point
> Calling a Procedure from a Program File
> Calling a Procedure with Argument
> Declarative Part of Program
> Variable
> Global variable
> Local Variable
> Static Attribute
> Public Attribute
> Valid Range of Local Variable (Scope)
> Variable Type and Precautions for Use
> Array
> Designate an Array as Procedure Argument
> Declaring I/O Variable by Array
> Variable Memory
> Internal I/O
> Constant
> Data Types
> Integer Type
> Single Precision Real Number Type
> Double Precision Real Number Type
> I/O Type
> Automatic Conversion of I/O Type Data
> Position Type
> Joint Type
> Homogeneous Translation Type
> Normalization of Homogeneous Translation Type Data
> Vector Type
> String Type
> Variant Type
> Automatic Data Type Conversion (Casting)
> Type Conversion of Numeric Data
> Converting Position Data into Position Data of Different Type
> Conversion of String Type Data and Other Data Types
> Data Type Priority in Dyadic Operation
> Rounding to the Nearest Even Number
> Precaution for 4-axis Robot Posture
> Object
> Program Flow
> Conditional Branching
> Conditional Expression
> Repeat
> Jump
> Error Processing Routine
> Label
> Comment
> Command Option
> Motion Option
> Speed Setting Option
> Next Option
> SyncMove Option (Cooperative Control Function Option)
> Target Position Option
> Pass Start Displacement
> Extended-Joint Option for Target Position
> Area Option
> Formatting String
> Value Display Formatting Character
> String Display Formatting Character
> Date/Time Display Formatting Character
> Related Contents
> Data Communication
> Line number
> Data Communication in Binary Mode
> Error handling in PacScript
> Example Error Processing
> Seed Value
> Language Setting
> About Calculation of Edge Load Inertia
> Command Reference
> By Functions
> Robot
> Motion
> Approach
> ArchMove
> Depart
> Draw
> Drive
> DriveA
> Move
> Move C
> Rotate
> Motion Examples of Rotate
> RotateH
> SetHoming
> Speed
> Accel
> CurAcc
> CurDec
> CurExtAcc
> CurExtDec
> CurExtSpd
> CurSpd
> CurSpeedMode
> Decel
> ExtAccel
> ExtDecel
> ExtSpeed
> Speed
> SpeedMode
> Tool/Work/Base
> Base
> ChangeTool
> ChangeWork
> ConvertPosBase
> ConvertPosTool
> ConvertPosWork
> CurTool
> CurWork
> Tool
> ToolPos
> Work
> WorkAttribute
> WorkPos
> Area
> Area
> AreaPos
> AreaSize
> ClearAreaDetected
> GetAreaDetected
> ResetArea
> SetArea
> Palletizing
> Pallet.CalcPos
> Pallet.CalcPosTurning
> Current Limit
> CurLmt
> ZForce
> Force Control
> CurForceSensorPayLoad
> ForceChangeTable
> ForceCtrl
> ForceParam
> ForceSensor
> ForceSensorPayLoad
> ForceValue
> ForceWaitCondition
> Tracking
> TrackAbsApproach
> TrackAbsMove
> TrackAbsMove S
> TrackApproach
> TrackArrivalTime
> TrackBufferDelete
> TrackBufferIndexes
> TrackBufferRead
> TrackBufferSort
> TrackConveyorSpd
> TrackConveyorVector
> TrackCount
> TrackCurBufferSort
> TrackCurMotionRange
> TrackCurPos
> TrackCurStartArea
> TrackDepart
> TrackDraw
> TrackEncoder
> TrackInitialize
> TrackInRange
> TrackMinimumIntervalLength
> TrackMotionRange
> TrackMove
> TrackMove S
> TrackOffsetMargin
> TrackPrepareData
> TrackSetSensor
> TrackSetVision
> TrackShiftTarget
> TrackStandByPos
> TrackStart
> TrackStartArea
> TrackStop
> TrackTargetOffset
> TrackTargetPos
> TrackTargetRelease
> Accuracy
> CrtMotionAllow
> EncMotionAllow
> EncMotionAllowJnt
> HighPathAccuracy
> Free Curve Interpolation
> AddPathPoint
> ClrPathPoint
> CurPathPoint
> GetPathPoint
> GetPathPointCount
> LoadPathPoint
> Move S
> Collision Detection
> CollisionDetection
> GetCollisionStatus
> SetCollisionDetection
> Virtual Fence
> CheckVirtualFence
> VirtualFence
> Cooperative Control Function
> #Pragma Optimize( "DefaultRobot" )
> ClearLog
> ClearServoLog
> GetHandIO
> SetHandIO
> StartLog
> StartServoLog
> StopLog
> StopServoLog
> SyncTime
> Exclusive Control of Robots
> ExclusiveArea
> ExclusiveControlStatus
> ResetExclusiveArea
> SetExclusiveArea
> Start Timing of a Non-Motion Command
> Arrive
> MotionSkip
> WaitMotion
> Motor
> Motor
> MotorState
> SrvUnLock
> Status/Value Obtainment
> CurExJ
> CurFig
> CurJnt
> CurPos
> CurTrn
> DestJnt
> DestPos
> DestTrn
> GetAllSrvData
> GetSrvData
> GetSrvJntData
> MotionComplete
> RobInfo
> Coordination with Position, Motion and I/O
> AngularTrigger
> DetectOff
> DetectOn
> Interrupt
> OutputTCPSpeed
> Settings of Functions and Conditions
> CPMode
> CurCPMode
> CurPayload
> ErAlw
> GrvCtrl
> GrvOffset
> MotionTimeout
> Payload
> Posclr
> SingularAvoid
> Home Position Guidance
> CalcBackTraceLog
> MoveBackTraceLog
> Mirror Control
> ClearSlaveButtonState
> GetSlaveButtonState
> MoveMasterPos
> Others
> IAI*.GetCurrentPositionData
> IAI*.Home
> IAI*.JogMinus
> IAI*.JogPlus
> IAI*.MovePTP
> IAI*.Pause
> IAI*.ReadAlarmInfo
> IAI*.ReadCurrentAlarmCode
> IAI*.ReadCurrentPosition
> IAI*.ReadDSS1
> IAI*.ReadDSS2
> IAI*.ReadDSSE
> IAI*.ReadPositionData
> IAI*.ResetAlarm
> IAI*.Stop
> IAI*.SwitchJogInching
> IAI*.SwitchPIOModbus
> IAI*.SwitchServo
> IAI*.WritePositionData
> Flow
> Branching
> GoTo
> If...End If
> If...Then...Else
> Select Case...End Select
> Repeat
> Do...Loop
> Exit
> For...Next
> Call
> Call
> CallByName
> Wait
> Delay
> Wait
> Declaration
> Function...End Function
> Sub...End Sub
> Variable
> Declaration
> Dim
> Assignment
> Let
> Type
> Double
> Integer
> Joint
> Position
> Single
> String
> Trans
> VarChangeType
> Variant
> VarType
> Argument
> ByRef
> ByVal
> Array
> Array
> CreateArray
> CreateMultiArray
> ReadByteArray
> SwapByteArray
> UBound
> WriteByteArray
> Attribute
> GetPublicValue
> Public
> SetPublicValue
> Static
> Operator
> Arithmetic
> - Operator
> * Operator
> / Operator
> ^ Operator
> \ Operator
> + Operator
> Mod Operator
> Logic
> And Operator
> Not Operator
> Or Operator
> Xor Operator
> Comparative
> <,=,> (Comparative) Operators
> Shift
> << Operator
> >> Operator
> Assignment
> = (Assignment) Operator
> String
> & Operator
> Arithmetic
> Trigonometric
> Acos
> Asin
> Atn
> Atn2
> Cos
> Sin
> Tan
> Square Root
> Sqr
> Power
> Pow
> Exponential/Logarithm
> Exp
> Log
> Log10
> Absolute Value
> Abs
> Sign
> Sgn
> Max/Min
> Max
> Min
> Random Number
> Randomize
> Rnd
> Angle Conversion
> DegRad
> RadDeg
> Integer
> Fix
> Int
> Speed
> Dps
> Mps
> Rpm
> String
> Uppercase/Lowercase
> LCase
> UCase
> Extract/Trim
> Left
> LTrim
> Mid
> Right
> RTrim
> Number of Letters or Byte
> Len
> LenB
> Numerical Inversion
> Str
> Val
> Split/Join
> Join
> Split
> Search
> InStr
> InStrRev
> Format
> Format
> Sprintf
> Baseconvertion
> Bin
> Hex
> Character Conversion
> Asc
> Chr
> File Path
> RealPath
> Input/Output
> I/O
> DefIO
> Reset
> Set
> Data Communication
> Comm.Clear
> Comm.Close
> Comm.Count
> Comm.Input
> Comm.Open
> Comm.Output
> Comm.State
> Visual
> PickingAdjustmentConvPos
> Vis.CalTrans
> Vis.GetCalData
> Vis.GetCalPos
> Vis.SetCalData
> Vis.Trans
> Electric Gripper
> Motion
> Hand[n].Chuck / SelectHand[m,n].Chuck
> Hand[n].Motor / SelectHand[m,n].Motor
> Hand[n].MoveA / SelectHand[m,n].MoveA
> Hand[n].MoveAH / SelectHand[m,n].MoveAH
> Hand[n].MoveH / SelectHand[m,n].MoveH
> Hand[n].MoveP / SelectHand[m,n].MoveP
> Hand[n].MoveR / SelectHand[m,n].MoveR
> Hand[n].MoveRH / SelectHand[m,n].MoveRH
> Hand[n].MoveZH / SelectHand[m,n].MoveZH
> Hand[n].Org / SelectHand[m,n].Org
> Hand[n].Stop / SelectHand[m,n].Stop
> Hand[n].UnChuck / SelectHand[m,n].UnChuck
> Status/Value Obtainment
> Hand[n].BusyState / SelectHand[m,n].BusyState
> Hand[n].CurPos / SelectHand[m,n].CurPos
> Hand[n].EmgState / SelectHand[m,n].EmgState
> Hand[n].Error / SelectHand[m,n].Error
> Hand[n].GetPoint / SelectHand[m,n].GetPoint
> Hand[n].HoldState / SelectHand[m,n].HoldState
> Hand[n].InposState / SelectHand[m,n].InposState
> Hand[n].MotorState / SelectHand[m,n].MotorState
> Hand[n].OrgState / SelectHand[m,n].OrgState
> Hand[n].ZonState / SelectHand[m,n].ZonState
> Provider
> AddHandler
> Cao.AddController
> Cao.Controllers
> Cao.Index
> Cao.Name
> IsNothing
> RemoveHandler
> Coordinates
> Conversion
> J2P
> J2T
> P2J
> P2T
> T2J
> T2P
> Calculation
> Cross
> Dev
> DevH
> Dist
> Dot
> Magnitude
> NormalVector
> OutRange
> TInv
> TMul
> TNorm
> Assignment
> LetA
> LetF
> LetJ
> LetO
> LetP
> LetR
> LetRx
> LetRy
> LetRz
> LetX
> LetY
> LetZ
> Extract
> AVec
> Fig
> Joint
> OVec
> PosRx
> PosRy
> PosRz
> PosX
> PosY
> PosZ
> PVec
> RVec
> Preprocessor
> #Define
> #Error
> #If ... #Endif
> #Ifdef ... #Endif
> #Ifndef ... #Endif
> #Include
> #Pragma Encrypt
> #Pragma Optimize( "idling" )
> #Pragma Optimize( "wait-idling-time" )
> #Undef
> #Warning
> Teach Pendant
> Display
> MsgBox
> PageChange
> PageChangeByName
> PrintDbg
> PrintMsg
> Buzzer
> Buzzer
> System Information
> CurOptMode
> Date
> DeadManState
> GetLanguage
> LockState
> Now
> SafetyInfo
> SysInfo
> SysState
> Time
> Timer
> Ver
> Multitask
> Run
> ContinueAll
> Run
> RunByName
> Stop
> Halt
> Hold
> Kill
> KillAll
> KillByName
> Suspend
> SuspendAll
> SuspendByName
> Semaphore
> CreateMutex
> DeleteMutex
> GiveArm
> GiveMutex
> MutexID
> MutexState
> ResetMutex
> TakeArm
> TakeArmState
> TakeMutex
> Priority
> GetPriority
> SetPriority
> Status
> Status
> StatusByName
> Error
> Clearance/Occurrence
> ClrErr
> Err.Raise
> Current Error Information
> CurErr
> Err.Description
> Err.Level
> Err.Number
> Err.OriginalNumber
> Arbitrary Error Information
> ErrLvl
> ErrMsg
> Branching
> On Error
> Resume
> Log
> Control Log
> SysLog.Ctrl.Clear
> SysLog.Ctrl.Start
> SysLog.Ctrl.Stop
> SysLog.Ctrl.UserData
> Trace Log
> SysLog.Trace.Clear
> SysLog.Trace.Start
> SysLog.Trace.Stop
> Servo Log
> SysLog.Servo.Clear
> SysLog.Servo.Start
> SysLog.Servo.Stop
> Comment
> Rem
> By Categories
> Statement
> Motion Statement
> Motion Statements
> Flow Control Statement
> Task Control Statement
> Shutdown System Command
> Assignment Statement
> I/O Statement
> Speed Put Statement
> Declaration Statement
> Function True/False Statement
> Project Parameter Put Statement
> Message-related Statement
> Control Statement
> Other Statements
> Function
> Component Extraction Function
> Arithmetic Function
> Three-dimensional Function
> Current Position Get Function
> Target Position Get Function
> Data Type Conversion Function
> System Get Function
> Project Get Function
> Task Get Function
> String Function
> Homogeneous Translation Data Related Function
> Speed Related Function
> Position Data Deviation Function
> Motion Get Function
> Error Get Function
> Other Functions
> Embedded Objects
> CommObject
> Err Object
> SysLog Object
> Hand Object
> Vis Object
> Pallet Object
> Cao object
> gCao object
> Operators
> Key Words
> Preprocessor Code
> Procedure Argument Relation Key Word
> Variable Type Relation Key Word
> Alphabetic Order
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