Point attributes

Each point definition can optionally specify a local number and various arm orientations, depending on the robot type.

You can specify point attributes in point assignment statements or use individual statements and functions to change the attributes of a previously defined point.

Local point attribute

To specify a local coordinate system number for a point in an assignment statement, add a forward slash (/) followed by the local number after the coordinates of the point.

P1 = XY(300, -125.54, -42.3, 0) /1  ' P1 is in local 1

The local number can also be an expression enclosed in parentheses.

P2 = P3 /(mylocal)

Use the PLocal function and statement to read and set the local attribute of a point.

Hand point attribute

To specify orientation for the SCARA or 6-axis robot, add a forward slash (/) followed by L (for Lefty hand orientation) or R (for Righty hand orientation).

P2 = XY(200, 100, -20, -45) /L  ' Hand orientation is Lefty
P3 = XY(50, 0, 0, 0) /2 /R      ' Lefty in Local 2

You can read and set point hand orientation using the Hand statement and function.

Hand P1, Righty

Elbow point attribute

To specify elbow orientation for the 6-axis robot in a point assignment statement, add a forward slash (/) followed by A (Above elbow orientation) or B (Below elbow orientation),

Elbow orientation is Below.

P1 = XY(0, 600, 400, 90, 0, 180) /B

You can read and set point elbow orientation using the Elbow statement and function.

Wrist point attribute

To specify wrist orientation for the 6-axis robot in a point assignment statement, add a forward slash (/) followed by NF (NoFlip wrist orientation) or F (Flip wrist orientation).

Wrist orientation is Flip.

P2 = XY(0, 600, 400, 90, 0, 180) /F

You can read and set point wrist orientation using the Wrist statement and function.

J4Flag and J6Flag point attributes

At some points in the work envelope, the 6-axis robot can have the same position and orientation even if the fourth joint or the sixth joint is rotated 360 degrees. To distinguish these points, the J4Flag and J6Flag point attributes are provided.

To specify the J4Flag in a point assignment statement, add a forward slash (/) followed by J4F0 (-180 < the forth joint angle <= 180) or J4F1 (the forth joint angle <= -180 or 180 < the forth joint angle).

P2 = XY(0, 600, 400, 90, 0, 180) /J4F1

To specify the J6Flag in a point assignment statement, add a forward slash (/) followed by J6F0 (-180 < the sixth joint angle <= 180), J6F1 (-360 < the sixth joint angle <= -180 or 180 < the sixth joint angle <= 360), or J6Fn (-180*(n+1) < the sixth joint angle <= -180*n or 180*n < the sixth joint angle <= 180*(n+1)).

P2 = XY(50, 400, 400, 90, 0, 180) /J6F2

J1Flag and J2Flag point attributes

At some points in the work envelope, the RS series can have the same position and orientation even if the first joint or the second joint is rotated 360 degrees. To distinguish these points, the J1Flag and J2Flag point attributes are provided.

To specify the J1Flag in a point assignment statement, add a forward slash (/) followed by J1F0 (-90 < the first joint angle <= 270) or J1F1 (-270 <= the first joint angle <= -90 or 270 < the first joint angle <= 450).

P2 = XY(-175, -175, 0, 90) /J1F1

To specify the J2Flag in a point assignment statement, add a forward slash (/) followed by J2F0 (-180 < the second joint angle <= 180), J2F1 (-360 < the second joint angle <= -180 or 180 < the second joint angle <= 360).

P2 = XY(300, 175, 40, 90) /J2F1

J1Ang and J2Flag point attributes

At the origin of the robot coordinate system, the RS series can have the same position and orientation even if the first joint is rotated. To distinguish these points, the J1Ang point attributes are provided.