Data
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This page details data structure and types used in the FANUC TP programs. For the use of data for directing program flow, see Registers.
FANUC's software handles data in variables known as "Registers".
DATA Screen
From the teach pendant, the DATA screen can be accessed with the DATA button. It can also be accessed via MENU, selecting the Data option.
The DATA screen lets you view and modify contents and metadata for registers.
[TYPE]
- Registers
- Position Reg
- MOVE_TO - Pressing this while shifted will move the robot to the coordinates stored in the selected position register.
- RECORD
- POSITION
- CLEAR
- String Reg
- Vision Reg
- Pallet register
- KAREL Vars
- KAREL Posns
Register Types
| Register Type | Label | Range | # Of Elements | Type of Data Allowed |
|---|---|---|---|---|
| Register | R | 1 | Numeric Values | |
| Position Register | PR | 6 | Position Values - Cartesian or Joint | |
| Pallet Register | PL | 3 | Position Values - Cartesian |
Registers
A register is listed as R[#] and can contain an integer. This is good for math equations, counters, single dimension data handling, and temporary storage registers.
Position Registers
A position register is listed as PR[#] and contains positional data in six separate elements. Position registers can handle 6 elements, representing 3 dimensional measurements and 3 angular measurements.
P[n] = (x,y,z,w,p,r,configuration) – configuration describes axis condition at destination. Wrist could be N (not-flipped) or F (flipped), elbow could be U (up) or D (down), robot could be T (Front) or B (back)
Pallet Registers
A position register is listed as PL[#] and contains positional data in three separate elements.
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