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

This is the menu displayed when you strike the [TYPE] softkey

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 - Set the position registers values to the current position of the robot. Must have SHIFT pressed beforehand.
  • POSITION - Open up the position register's contents to view and edit individual elements.
  • CLEAR - De-initialize the register. This clears all contents, loading them with NULL values. This is different from values of zero, as the NULL contents won't allow the position register to be used in a program.
• String Reg
• Vision Reg
• Pallet register
• KAREL Vars
• KAREL Posns

Register Types

This is the Registers type on the DATA screen.

Registers Options

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

This is the Position Registers type on the DATA screen.

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 in the Cartesian coordinate system. They can also contain Joint configurations, with each element representing the angular position of each robot joint.

When opening the DETAIL page for a specific position register, you can switch between Joint and Cartesian representation by hitting the softkey [REPRE].

Cartesian

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)

Joint

P[n] = (J1, J2, J3, J4, J5, J6)

This is a Position Registers values on the POSITION screen.

Initialization of Position Registers

Position registers must be initilized before they can be used in running programs. To initialize a position register, open the DATA screen, change [TYPE] to Position Reg, and select your desired position register by cursoring to it. Hit the softkey POSITION to open up that position register, and enter values. All six elements must contain values for the position register to be valid, even if those elements aren't used or contain zeroes.

Pallet Registers

A position register is listed as PL[#] and contains positional data in three separate elements.