MC-Basic Constants

Constants are numbers, which are written as ordinary text characters; for example, 161. Constants can be written in decimal or in hexadecimal (HEX). To write a constant in hex, precede it by a 0x; for example, 0xF is the hex representation of 15 decimal.

The softMC provides numerous literal constants (reserved words with a fixed value). You can use these constants anywhere in your program to make your code more intuitive and easier to read. For example:

A1.Motion = ON

turns on the A1 property Motion. This is more intuitive to read than:

A1.Motion = 1

although the effect is identical.

A number of keywords have been defined in the system to facilitate operation. These keywords, or constants, may be used in place of explicit numeric values in instances where a parameter has a discrete range of allowed values.

The following is a list of constants.

Reserved Name	Value	Usage	Example
ON	1	MOTION property (axis and system) ENABLE property (System, axis and group)	A1.Motion ?'"`UNIQ--nowiki-00000003-QINU`"'? ON A1.Enable ?'"`UNIQ--nowiki-00000004-QINU`"'? ON
OFF	0	MOTION property (axis and system) ENABLE property (System, axis and group) SLAVE axis property	A1.Motion?'"`UNIQ--nowiki-00000005-QINU`"'?OFF A1.Enable?'"`UNIQ--nowiki-00000006-QINU`"'?OFF A1.Slave ?'"`UNIQ--nowiki-00000007-QINU`"'? OFF
MaxDouble	1.797693134862311 e+308	Returns the maximum double precision value
Maxlong	2147483647	Returns the maximum integer value
MinLong	-2147483648	Returns the minimum integer value
Immediate/Immed	1	StartType property value (axis and group) StopType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-00000008-QINU`"'? Immediate A1.StopType ?'"`UNIQ--nowiki-00000009-QINU`"'? Immed
SuperImmediate/Simm	5	StartType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-0000000A-QINU`"'? Simm
Abort	4	StartType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-0000000B-QINU`"'? Abort
Settled	2	StartType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-0000000C-QINU`"'? Settled
InPosition/Inpos	2	StartType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-0000000D-QINU`"'? InPos
GeneratorCompleted/Gcom	3	StartType property value (axis and group)	G1.StartType ?'"`UNIQ--nowiki-0000000E-QINU`"'? Gcom
Sync	4	StartType property value (axis and group)	A1.StartType ?'"`UNIQ--nowiki-0000000F-QINU`"'? Sync
OnPath	2	StopType property type (axis and group)	A1.StopType ?'"`UNIQ--nowiki-00000010-QINU`"'? OnPath
EndMotion/Emot	3	StopType property type (axis and group)	A1.StopType ?'"`UNIQ--nowiki-00000011-QINU`"'? EndMotion
Continue/Cont	1	ProceedType property (axis and group)	A1.ProceedType ?'"`UNIQ--nowiki-00000012-QINU`"'? Cont
NextMotion/Nmot	2	ProceedType property (axis and group)	A1.ProceedType ?'"`UNIQ--nowiki-00000013-QINU`"'? NextMotion
ClearMotion/Cmot	3	ProceedType property (axis and group)	A1.ProceedType ?'"`UNIQ--nowiki-00000014-QINU`"'? ClearMotion
True	1	Absolute property (axis and group) Simulated property (axis)	A1.Absolute ?'"`UNIQ--nowiki-00000015-QINU`"'? True
False	0	Absolute property (axis and group) Simulated property (axis)	A1.Absolute ?'"`UNIQ--nowiki-00000016-QINU`"'? False
PI	3.14159265359	In expressions; to convert from Radians to degrees	Deg ?'"`UNIQ--nowiki-00000017-QINU`"'? Rad *180 / PI
Gear	1	Slave property (axis only)	A1.Slave ?'"`UNIQ--nowiki-00000018-QINU`"'? Gear
Cam	2	Slave property (axis only)	A1.Slave ?'"`UNIQ--nowiki-00000019-QINU`"'? Cam
External	1	Feedback type	a1.Feedback ?'"`UNIQ--nowiki-0000001A-QINU`"'? External
Rise	1	Capture Polarity	a1.CapturePolarity ?'"`UNIQ--nowiki-0000001B-QINU`"'? Rise
Fall	2	Capture Polarity	a1.CapturePolarity ?'"`UNIQ--nowiki-0000001C-QINU`"'? Fall
Halt	0	Drive Halt/Restart control.	a1.HaltRestart ?'"`UNIQ--nowiki-0000001D-QINU`"'? Halt
Restart	1	Drive Halt/Restart control.	a1.HaltRestart ?'"`UNIQ--nowiki-0000001E-QINU`"'? Restart
In1	1
In2	2
In3	3
Homing	10	Assigning home switch	In1mode ?'"`UNIQ--nowiki-0000001F-QINU`"'? homing
Capturing	16	Assigning capture switch	In2mode ?'"`UNIQ--nowiki-00000020-QINU`"'? capturing
Positive	1	Axis direction	A1.Direction ?'"`UNIQ--nowiki-00000021-QINU`"'? Positive
Negative	-1	Axis direction	A1.Direction ?'"`UNIQ--nowiki-00000022-QINU`"'? Negative
Task_Running	1	Task state	Returned by <task>.State query.
Task_Stopped	2	Task state	Returned by <task>.State query.
Task_Error	4	Task state	Returned by <task>.State query.
Task_Ready	7	Task state	Returned by <task>.State query.
Task_KillStart	9	Task state	Returned by <task>.State query. Intermidiate state, start of task kill sequence.
Task_Killed	10	Task state	Returned by <task>.State query.
Task_Interrupted	512	Task state qualifier	Returned by <task>.State query.
Task_Locked	256	Task state qualifier	Returned by <task>.State query.
AUTO	0	system determines the configuration flag automatically
LEFTY	1	Arm flag : positive jont-2 moves the wrist in positive WORLD Z direction while joint-3 is not activated
RIGHTY	2	Arm flag : positive jont-2 moves the wrist in negative WORLD Z direction while joint-3 is not activated
BELOW	1	Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment
ABOVE	2	Elbow flag :Position of the wrist of the LEFTY/ RIGHTYarm with respect to the shoulder coord. system has Negative/Positive coordinate value along the Y axis of the second segment
FLIP	2	Wrist flag : value of joint 5 is negative
NOFLIP	1	Wrist flag : value of joint 5 is positive