Omron SCARA YRCX Series Programming Manual page 107

No. Function
Character string
130 TIME$
function
131 TIMER Arithmetic function
133 TOLE Arithmetic function
134 TORQUE Arithmetic function
135 TSKPGM Arithmetic function
V
136 VAL Arithmetic function
W
139 WEIGHT Arithmetic function
141 WHERE Point function
143 WHRXY Point function
X
144 XYTOJ Point function
Type
Acquires the current time as an "hh:mm:ss" format character
string.
Acquires the current time in seconds, counting from midnight.
Acquires the tolerance parameter of a specified robot.
Acquires the maximum torque command value which can be set
for a specified axis of a specified robot.
Acquires the program number which is registered in a specified
task.
Converts the numeric value of a specified character string to an
actual numeric value. (↔STR$)
Acquires the tip weight parameter of a specified robot.
Reads out the current position of the arm of a specified robot in
joint coordinates (pulse).
Reads out the current position of the arm of a specified robot as
Cartesian coordinates (mm, degrees).
Converts the point variable Cartesian coordinate data to the joint
coordinate data of a specified robot. (↔JTOXY).
Description
Functions: in alphabetic order
8
9
10
11
12
13
8-15