Hi6 Robot Controller Manual - Robot Language HRScr
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  • Hi6 Robot Controller Function Manual - Robot Language HRScript
  • 1. Overview
    • 1.1 Introduction of HRScript
  • 2. Basic Syntax
    • 2.1 Statements
    • 2.2 Identifiers
    • 2.3 Types of Statements
      • 2.3.1 Procedures
      • 2.3.2 Assignment Statements
      • 2.3.3 Comment Statements
      • 2.3.4 Labels
    • 2.4 First Program – Hello, World!
    • 2.5 Data Type
      • 2.5.1 String Data Type
      • 2.5.2 Number Data Type
      • 2.5.3 Boolean Data Type
      • 2.5.4 Array Type and Object Type
    • 2.6 Variables
    • 2.7 Binary and Hexadecimal
    • 2.8 Operators and Expressions
    • 2.9 Functions
      • 2.9.1 Math Functions
      • 2.9.2 String Functions
      • 2.9.3 Date and Time Functions
      • 2.9.4 Constructor Functions
      • 2.9.5 Other Functions
  • 3. Flow-Control Statements and Sub-Program
    • 3.1 Address
    • 3.2 Stop or Wait Statement
      • 3.2.1 stop
      • 3.2.2 end
      • 3.2.3 delay
      • 3.2.4 wait
    • 3.3 Branch Statement
      • 3.3.1 goto
    • 3.4 Conditional Statements
      • 3.4.1 Single-Line if
      • 3.4.2 if-endif
      • 3.4.3 if-else-endif Statement
      • 3.4.4. if-elseif-else-endif
      • 3.4.5 switch-case-break-end_switch
    • 3.5. Nested Flow-Control Statements
    • 3.6 Loop Statements
      • 3.6.1 for-next
    • 3.7 Call, Jump Statement and Subprograms
      • 3.7.1 call
      • 3.7.2 Parameters and param, return
      • 3.7.3 jump
    • 3.8 Local Variables and Global Variables
      • 3.8.1 Local Variables
      • 3.8.2 Global Variables
      • 3.8.3 Precedence
  • 4. Arrays and Objects
    • 4.1 Arrays
      • 4.1.1 Arrays
      • 4.1.2 Multidimensional Arrays
      • 4.1.3 Array Constructor Function
    • 4.2 Object
    • 4.3 Copied assignment of arrays and objects
    • 4.4 Call-by-reference and call-by-value
  • 5. Moving a Robotwith Robot Language
    • 5.1 Pose
    • 5.2 Shift
    • 5.3 Pose Expression
    • 5.4 move
    • 5.5 User Coordinate System (UCS)
  • 6. Communicating with External Devices
    • 6.1 FB Object: Digital I/O
      • 6.1.1 Input/Output Variables
      • 6.1.2 Examples
    • 6.2 ENet Module: Ethernet TCP/UDP Communication
      • 6.2.1 Constructor
      • 6.2.2 Member Variables
      • 6.2.3 Member Procedures
        • open
        • connect
        • send
        • recv
        • close
      • 6.2.4 Member Function
        • state
      • 6.2.5 Examples of TCP and UDP Communication
    • 6.3 Http_Cli Module: HTTP Client
      • 6.3.1 Constructor
      • 6.3.2 Member Variables
      • 6.3.3 Member Procedure
        • get
        • put
        • post
        • delete
      • 6.3.4 Examples of HTTP Client Communication
    • 6.4 Getting input from console bar
      • 6.4.1 input
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  1. 2. Basic Syntax
  2. 2.9 Functions

2.9.1 Math Functions

Function

Description

Example of usage

Result

abs(a)

Returns the absolute value of a

abs(-300)

300

acos(a)

Returns the arc cosine value of a in radian format

acos(0.5)

1.0472

asin(a)

Returns the arc sine value of a in radian format

asin(0.5)

0.5236

atan(a)

Returns the arctangent value of a in radian format

atan(0.5)

0.4636

atan2(a, b)

Returns the arctangent value of a triangle with a for the y length and b for the x length in radian format

atan2(2,1)

1.1071

cos(r)

Returns the cosine value of r in radian format

cos(3.1415)

-1

deg2rad(d)

Returns the radian value of d in degree format

deg2rad(-90)

-1.570796

dist(x, y)

Returns the Euclidean distance from the origin to the (x, y) coordinate

dist(3.5,10)

10.59481

max(a, b)

Returns the greater value between a and b

max(-1.23, -3)

-1.23

min(a, b)

Returns the lesser value between a and b

max(-1.23, -3)

-3

near(a, b [,e])

Returns 1 if the difference between the real number values ​​ a and b is less than or equal to e and returns 0 if the difference is larger than e

near(0.005, 0.0058)

near(0.005, 0.006)

near(0.005, 0.006, 0.1)

1

0

1

rad2deg(r)

Returns the degree value of r in radian format

rad2deg(1.570796)

90

sin(r)

Returns the sine value of r in radian format

sin(1.5*3.1415)

-1

sqr(a)

Returns the square root of a

sqr(16)

sqr(0)

4

0

tan(r)

Returns the tangent value of r in radian format

tan(3.141592/4)

0.9999

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