ROBOT.OPR (mode, index)

VCOPY-I

Function

Returns robot-specific data for the currently selected robot.

Parameter s

mode There are two modes, mode 1 and mode 2. Mode 1 is used to read values stored in an internal 16-bit integer array. Mode 2 is used to read values stored in an internal floating-point array.

index This parameter represents the index specifying the array element to read (1 - n).

Details

This function currently returns information for the following robot modules:

Table 2-12. Robot Modules Supported by the ROBOT.OPR Function

Robot Module	Mode	Indices	Description
XY3 (module ID 21)	1	1 - 5	The number of the primary ZTheta pair, followed by the number of the first slave pair, the second slave pair, and the third slave pair. The first zero value indicates the end of the list of active slave pairs.
	2	1, 2	Always 0
		3	Z offset for the first slaved ZTheta
		4	RZ offset for the first slaved ZTheta
		5	Z offset for the second slaved ZTheta
		6	RZ offset for the second slaved ZTheta
		7	Z offset for the third slaved ZTheta
		8	RZ offset for the third slaved ZTheta
XY4 (module ID 17)	1	1 - 5	The number of the primary ZTheta pair, followed by the number of the first slave pair, the second slave pair, and the third slave pair. The first zero value indicates the end of the list of active slave pairs.

Related Keyword s

ROBOT.OPR (program instruction)

SELECT (program instruction and real-valued function)

Syntax

SCALE.ACCEL-S

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