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. 6. Communicating with External Devices
  2. 6.1 FB Object: Digital I/O

6.1.1 Input/Output Variables

Previous6.1 FB Object: Digital I/ONext6.1.2 Examples

Last updated 3 years ago

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In do, dob, dow, dol, and dof, the suffixes b, w, l, and f mean “byte,” “word,” “long,” and “float,” respectively, and all are signed values. These are not separate memory spaces and represent the same 960-byte space just with different data types. For example, do[1~16], dob[1~2], and dow[1] are all the same output signals.

If a value is assigned to an output variable that starts with “do,” I/O signal output will be performed. The I/O signal currently being inputted can be acquired by reading the input variable value that starts with “di.” The do variable can be read and written, but the di variable can only be read.

The FB object name can be omitted as follows.

object name

do notation

fb.do notation

fb0

do0 ~ do959

fb0.do0 ~ fb0.do959

fb1

do960 ~ do1919

fb1.do0 ~ fb1.do959

fb2

do1920 ~ do2879

fb2.do0 ~ fb2.do959

fb3

do2880 ~ do3839

fb3.do0 ~ fb3.do959

fb4

do3840 ~ do4799

fb4.do0 ~ fb4.do959

fb5

do4800 ~ do5759

fb5.do0 ~ fb5.do959

fb6

do5760 ~ do6719

fb6.do0 ~ fb6.do959

fb7

do6720 ~ do7679

fb7.do0 ~ fb7.do959

fb8

do7680 ~ do8639

fb8.do0 ~ fb8.do959

fb9

do8640 ~ do9599

fb9.do0 ~ fb9.do959