RAPID refernce manual BaseWare RAPID reference part2

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1、RAPIDreferencemanualBaseWareRAPIDreferencepart2,FunctionsanddatatypesA-ZRobotWare-OS4.0RAPIDreferencemanual3HAC7774-1RevisionDBaseWareRAPIDreferencepart2,FunctionsanddatatypesA-ZTableofcontentsRobotWare-OS4.0FunctionsA-ZDatatypesA-ZIndexRAPIDreferencepart2,Functionsanddataty

2、pesA-ZTheinformationinthismanualissubjecttochangewithoutnoticeandshouldnotbeconstruedasacommitmentbyABB.ABBassumesnoresponsibilityforanyerrorsthatmayappearinthismanual.Exceptasmaybeexpresslystatedanywhereinthismanual,nothinghereinshallbeconstruedasanykindofguaranteeorwarrant

3、ybyABBforlosses,damagestopersonsorproperty,fitnessforaspecificpurposeorthelike.InnoeventshallABBbeliableforincidentalorconsequentialdamagesarisingfromuseofthismanualandproductsdescribedherein.ThismanualandpartsthereofmustnotbereproducedorcopiedwithoutABB'swrittenpermission,a

4、ndcontentsthereofmustnotbeimpartedtoathirdpartynorbeusedforanyunauthorizedpurpose.Contraventionwillbeprosecuted.AdditionalcopiesofthismanualmaybeobtainedfromABBatitsthencurrentcharge.©Copyright2004ABBAllrightreserved.ABBAutomationTechnologiesABRoboticsSE-72168VästeråsSwedenR

5、APIDreferencepart2,FunctionsanddatatypesA-ZContentsAbs-Getstheabsolutevalue.....................................................................................................1ACos-Calculatesthearccosinevalue..................................................................

6、....................3AOutput-Readsthevalueofananalogoutputsignal............................................................5ASin-Calculatesthearcsinevalue...........................................................................................7ATan-Calculatesthearctangent

7、value....................................................................................9ATan2-Calculatesthearctangent2value..............................................................................11ByteToStr-Convertsabytetoastringdata..................................

8、........................................13CalcJointT-Calculatesjointanglesf