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 = ON A1.Enable = ON |
| OFF | 0 | MOTION property (axis and system) ENABLE property (System, axis and group) SLAVE axis property | A1.Motion=OFF A1.Enable=OFF A1.Slave = 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 = Immediate A1.StopType = Immed |
| SuperImmediate/Simm | 5 | StartType property value (axis and group) | A1.StartType = Simm |
| Abort | 4 | StartType property value (axis and group) | A1.StartType = Abort |
| Settled | 2 | StartType property value (axis and group) | A1.StartType = Settled |
| InPosition/Inpos | 2 | StartType property value (axis and group) | A1.StartType = InPos |
| GeneratorCompleted/Gcom | 3 | StartType property value (axis and group) | G1.StartType = Gcom |
| Sync | 4 | StartType property value (axis and group) | A1.StartType = Sync |
| OnPath | 2 | StopType property type (axis and group) | A1.StopType = OnPath |
| EndMotion/Emot | 3 | StopType property type (axis and group) | A1.StopType = EndMotion |
| Continue/Cont | 1 | ProceedType property (axis and group) | A1.ProceedType = Cont |
| NextMotion/Nmot | 2 | ProceedType property (axis and group) | A1.ProceedType = NextMotion |
| ClearMotion/Cmot | 3 | ProceedType property (axis and group) | A1.ProceedType = ClearMotion |
| True | 1 | Absolute property (axis and group) Simulated property (axis) | A1.Absolute = True |
| False | 0 | Absolute property (axis and group) Simulated property (axis) | A1.Absolute = False |
| PI | 3.14159265359 | In expressions; to convert from Radians to degrees | Deg = Rad *180 / PI |
| Gear | 1 | Slave property (axis only) | A1.Slave = Gear |
| Cam | 2 | Slave property (axis only) | A1.Slave = Cam |
| External | 1 | Feedback type | a1.Feedback = External |
| Rise | 1 | Capture Polarity | a1.CapturePolarity = Rise |
| Fall | 2 | Capture Polarity | a1.CapturePolarity = Fall |
| Halt | 0 | Drive Halt/Restart control. | a1.HaltRestart = Halt |
| Restart | 1 | Drive Halt/Restart control. | a1.HaltRestart = Restart |
| In1 | 1 | ||
| In2 | 2 | ||
| In3 | 3 | ||
| Homing | 10 | Assigning home switch | In1mode = homing |
| Capturing | 16 | Assigning capture switch | In2mode = capturing |
| Positive | 1 | Axis direction | A1.Direction = Positive |
| Negative | -1 | Axis direction | A1.Direction = 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. |
| 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 |