Global Variables Available in Teaching

A variable refers to a program identifier for a storage location which can contain any number or characters and which can vary in a program. There are two types of variable; global variables and local variables.
While global variables can be referred from any programs, local variables are effective within respective programs. For teaching process, global variables are available.

The following three types of gloval variables are available in teaching.

• Pos. (Position variable) (X，Y，Z，RX, RY, RZ, FIG) [6-axis/4-axis]
• Joint.(Joint variable) (（J1，J2，J3，J4, J5, J6, J7, J8） [6-axis/4-axis]
• Tran. (Homogeneous transform matrix variable)　　　(X, Y, Z, 0x, 0y, 0z, Ax, Ay, Az, FIG) [6-axis/4-axis]

Up to 32766 variables can be used per variable type, but the actual number available may be smaller depending on the controller memory size available.

For each variables, initial variable size are Pos.:100, Joint:100, Tran.:50.