Program parameters

sjs

Excuse me, the parameters of the robot program, what's the difference between the four mode, please explain in detail. Thank you

lemster68

From the Rapid Kernel manual:
Each parameter has an access mode.  Available access modes are in (default), var, pers, inout,and ref.  The access mode specifies how RAPID transfers a corresponding argument to a parameter. • An in parameter is initialized with the value of the argument(expression). The parameter may be used (for example assigned a new value) as an ordinary routine variable. • A var, pers, inout,or ref parameter is used as an alias for the argument (dataobject).  This means that any update of the parameter is also an update of the argument.