Denso RC5 Spezifikationen PDF herunterladen (Seite 172)

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7.8.2 Character String Constant

The character string type constant is a constant used to express a character

sting.

Express a character string by putting it in double quotations.

The length of a character string must be 247 characters or less.

Example: “PAC”

7.8.3 Vector Type Constant

A vector type constant is a constant with vector expression consisting of

components X, Y and Z.

Each element of X, Y, and Z is expressed with single precision real.

Example: Vector type constant is assigned to vector type

variable V1.

V[1] = (1,0,0)

7.8.4 Pose Constant

[ 1 ] Position Type Constant

A position type constant is comprised of position (X, Y, Z), posture (RX, RY,

RZ) and figure (FIG), and it has 7 single precision real parameters. The

position X, Y, and Z are expressed in units of mm, the posture(RX, RY, RZ) in

units of rotation angle (°) and the figure (FIG) using numbers from 0 to 31

(undefined is -1).

Note: If any value other than 0 to 31 is entered to FIG, the value you

enter will be displayed but it will be internally handled as

undefined (-1).

The posture shows the rotation angle of the X-, Y- and Z-axes, and each right

hand direction is taken as forward rotation. The range is limited to -180° ~

+180°. Since the posture depends on the rotation sequence of axes, the

rotation sequence is regulated only from the X-, Y- and Z-axes.

Example: Position type constant is assigned to position

type variable P1.

P[1] = (100,200,300,10,20,30,0)

‘X=100,Y=200,Z=300,RX=10,RY=20,RZ=30,FIG=0

The element component of a position type variable can be ignored in the

aniddle of programming. If it is ignored, “0” is designated to Y, Z, RX, RY, RZ

and “-1 (undefined)” to FIG. You cannot ignore the component X.

For example,

P[0] = (100,200,300)

and

P[0] = (100,200,300,0,0,0,-1)

have the same meaning.

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