Notations and Conventions 3. Joint numbers are integers from one up to the number of joints in the robot, including the hand if a servo-controlled hand is operational. For Omron Adept SCARA robots, joint numbering starts with the rotation about the base, referred to as joint 1. For mechanisms controlled by AdeptMotion, see the device module documentation for joint numbering. 4. Signal numbers are used to identify digital (on/off) signals. They are always considered as integer values with magnitudes in the ranges 1 to 8, 33 to 512, 1001 to 1012, 1032 to 1512, 2001 to 2512, or 3001 to 3004. A negative signal number indicates an off state. 5.
Integer arguments can be satisfied with real values (that is, values with integer and fractional parts). When an integer is required, the value is rounded and the resulting integer is used. 6. Arguments indicated as being scalar variables can be satisfied with a real value (that is, one with integer and fractional parts) except where noted. Scalars can range from -9.22*10 18 to 9.22*10 18 in value (displayed as -9.22E18 and 9.22E18). 2 1 See the IPS instruction for a special case of specifying robot speed in inches per second. 2 Numbers specifically declared to be double-precision values can range from -1.8*10 -307 to 1.8*10 -307 . eV+Language User's Guide, v2.x, 18318-000 Rev A Page 16