Specifications

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Content of the numeric variable storage area
Depending on the variable type, the numeric variable storage area contains the number of values
indicated below.
Content Variable
Type
Number
Data Type
(Pulse/
XYZ)
Number
of
values
P[0] P[1] P[2] P[3] P[4]
0 - 1 Byte
1 - 1 Integer - - - -
2 - 1 Double - - - -
3 - 1 Real - - - -
4 Pulse 8 0 S-axis Pulses L-axis Pulses U-axis Pulses R-axis Pulses
4 XYZ 10 1 Coordinate Type X-axis (mm) Y-axis (mm) Z-axis (mm)
5 Pulse 8 0 Base Axis-1
Pulses
Base Axis-2
Pulses
Base Axis-3
Pulses
Base Axis-4
Pulses
5 XYZ 10 1 Coordinate Type X-axis (mm) Y-axis (mm) Z-axis (mm)
6 Pulse 8 0 Station Axis-1
Pulses
Station Axis-2
Pulses
Station Axis-3
Pulses
Station Axis-4
Pulses
Content Variable
Type
Number
Data Type
(Pulse/
XYZ)
Number
of
values
P[5] P[6] P[7] P[8] P[9]
0 - 1
1 - 1 - - - - -
2 - 1 - - - - -
3 - 1 - - - - -
4 Pulse 8 B-axis Pulses T-axis Pulses Tool Number
4 XYZ 10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg) Form Tool Number
5 Pulse 8 Base Axis-5
Pulses
Base Axis-6
Pulses
Tool Number
5 XYZ 10 Rx Angle(deg) Ry Angle(deg) Rz Angle(deg) Form Tool Number
6 Pulse 8 Station Axis-5
Pulses
Station Axis-6
Pulses
Tool Number
The robot axis position and base axis position type variables include the
pulse type and XYZ type, according to the first return value. The station axis
position type variable contains the pulse type only.
See below for details on the coordinate system types and form.
Content of the character variable storage area
Content
Variable Type
Number
Data Type
(Pulse/ XYZ)
Number of values
str
7
- 16 String
NOTE:
When this function is used to receive a string type variable make sure that
the character variable storage area is allocated for 17 characters.
Declaration in Visual Basic: Dim S_Variable As String *17
Declaration in C++: char S_Variable[17]