Mitsubishi Electric CR800-D Series User manual

CR800-D/R/Q series controller
MELFA Smart Plus User’s Manual
2F-DQ510
2F-DQ511
2F-DQ520
2F-DQ521
Mitsubishi Electric Industrial Robot
BFP-A3559-E

A. These show precautions based on the Ordinance on Industrial Safety and Health (Articles 36, 104,
150, 151).
CAUTION For the sake of safety, teaching work should only be performed by workers who have
undergone special training.
(The same is true for any maintenance work done with the power source not cut off.)
→Implementation of safety education
CAUTION For teaching work, prepare work regulations concerning robot operation methods and
procedures, measures for when there is an abnormality and when restarting, etc.
Perform teaching work according to these regulations.
(The same is true for any maintenance work done with the power source not cut off.)
→Prepare work regulations.
WARNING For teaching work, set up a device that can stop operation immediately.
(The same is true for any maintenance work done with the power source not cut off.)
→Emergency stop switch setting
CAUTION During teaching work, label the start switch etc. to indicate that teaching work is
underway.
(The same is true for any maintenance work done with the power source not cut off.)
→Display that teaching work is underway
DANGER During operation, prevent contact between workers and robots by preparing a fence
and a barrier.
→Setting up a safety fence
CAUTION Determine a uniform signal to relevant staff for the start of operation and use that
signal.
→Signal for the start of operation
CAUTION For maintenance work, in principle, cut off the power and label the start switch etc. to
indicate that maintenance work is underway.
→Display that maintenance work is underway
CAUTION Before starting work, check the robot, emergency stop switches, related devices, etc.
and make sure there are no abnormalities.
→Check before the start of work
Safety Precautions
Before using the robot, always carefully read the precautions
below as well as the separate "Safety Manual" and take all
necessary safety measures.

B. This shows precaution points given in the separate "Safety Manual".
For details, please read the text of the "Safety Manual".
DANGER By using multiple control devices (GOT, PLC, push button switch)
When automatic operation is performed, the interlock such as the operation right of
each device is designed by the customer please.
CAUTION Use the robot in an environment that is within the range of its specifications. Failure to do
this can cause a drop in reliability and breakdown.
(Temperature, humidity, atmosphere, noise, etc.)
CAUTION When transporting the robot, put it into its specified transport posture.
Failure to do this can cause a drop in reliability and breakdown.
CAUTION Install the robot on a solid platform.
If the robot is in an unstable posture, this can cause positional deviation and
vibration.
CAUTION Wire cables away from noise sources as possible.
If cables are brought too close to noise sources, this can cause positional deviation
and malfunction.
CAUTION Do not apply excess force to connectors or bend cables excessively.
Doing so can cause a contact defect or cut line.
CAUTION Set work masses, including hands, so as not to exceed the rated load or permitted
torque.
Exceeding either of these can cause an alarm or breakdown.
WARNING Install hands and tools and hold work securely.
Failure to do this can cause objects to fly loose during operation and cause personal
injury or damage.
WARNING Ground the robot and controller reliably.
Failure to do this can cause malfunction due to noise or in an extreme case, electrical
shock.
CAUTION Display the operating state while the robot is operating.
Lack of such a display can result in someone coming too close to the robot by
mistake or mistaken operation.
WARNING Always secure the priority rights for control of the robot before doing any teaching
work within the robot's operating range. Failure to do this can allow the robot to start
due to an external command, causing personal injury or damage.
CAUTION Make the jog speed as slow as possible and do not take your eyes off the robot.
Failure to do this may cause a collision between the workpiece and peripheral
devices.
CAUTION After completing program editing, but before starting automatic operation, always
check operations in a step run. Failure to do this may cause a collision with a
peripheral device due to a programming error or the like.
CAUTION Set up the safety fence in such a way that, while the equipment is running on
automatic, either the safety fence door is locked or if anyone tries to open the door,
the robot is stopped. Failure to take these protective measures can cause an
accident resulting in injury.

CAUTION Never make alterations on your own judgment or use maintenance parts other than
those designated. Doing so can cause breakdown and malfunctions.
WARNING When moving the robot arm from the outside, never stick a hand or finger into an opening.
Depending on the posture, the hand or finger could get caught in the equipment.
CAUTION Do not stop the robot or perform an emergency stop by switching the robot
controller's main power supply OFF.
If the robot controller's main power supply is switched OFF during automatic
operation, this can reduce the robot's precision. It could result in collisions with
peripheral device or the like due to arm drop or inertia.
CAUTION When rewriting a program, parameters, or other internal information within the robot's
controller, do not switch the robot controller's main power supply OFF.
If the robot controller's main power supply is switched OFF during automatic
operation, or while a program or parameter is being written, there is a danger of the
internal information in the robot controller being corrupted.
DANGER Do not connect the Handy GOT when using the GOT direct connection function of
this product. Failure to observe this may result in property damage or bodily injury
because the Handy GOT can automatically operate the robot regardless of whether
the operation rights are enabled or not.
DANGER Do not connect the Handy GOT to a programmable controller when using an iQ Platform
compatible product with the CR800-R/CR800-Q controller. Failure to observe this may
result in property damage or bodily injury because the Handy GOT can automatically
operate the robot regardless of whether the operation rights are enabled or not.
DANGER Do not remove the SSCNET III cable while power is supplied to the multiple CPU system
or the servo amplifier. Do not look directly at light emitted from the tip of SSCNET III
connectors or SSCNET III cables of the Motion CPU or the servo amplifier. Eye
discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as specified in
JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Do not remove the SSCNET III cable while power is supplied to the controller.
Do not look directly at light emitted from the tip of SSCNET III connectors or SSCNET
III cables. Eye discomfort may be felt if exposed to the light.
(Reference: SSCNET III employs a Class 1 or equivalent light source as specified in
JIS C 6802 and IEC60825-1 (domestic standards in Japan).)
DANGER Attach the cap to the SSCNET III connector after disconnecting the SSCNET III cable.
If the cap is not attached, dirt or dust may adhere to the connector pins, resulting in
deterioration connector properties, and leading to malfunction.

CAUTION Make sure there are no mistakes in the wiring. Connecting differently to the way
specified in the manual can result in errors, such as the emergency stop not being
released. In order to prevent errors occurring, please be sure to check that all
functions (such as the teaching box emergency stop, customer emergency stop, and
door switch) are working properly after the wiring setup is completed.
CAUTION Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed
by manufacturer. The thing unsuitable for the FA environment (related with
conformity, temperature or noise) exists in the equipments connected to USB. When
using network equipment, measures against the noise, such as measures against
EMI and the addition of the ferrite core, may be necessary. Please fully confirm the
operation by customer. Guarantee and maintenance of the equipment on the market
(usual office automation equipment) cannot be performed.
CAUTION To maintain the security (confidentiality, integrity, and availability) of the robot and the
system against unauthorized access, DoS*1 attacks, computer viruses, and other
cyberattacks from unreliable networks and devices via network, take appropriate
measures such as firewalls, virtual private networks (VPNs), and antivirus solutions.
Mitsubishi Electric shall have no responsibility or liability for any problems involving
robot trouble and system trouble by unauthorized access, DoS attacks, computer
viruses, and other cyberattacks.
*1 DoS: A denial-of-service (DoS) attack disrupts services by overloading systems or
exploiting vulnerabilities, resulting in a denial-of-service (DoS) state.

■User's Manual Revision History
Printing Date
Manual No.
Revision Contents
2017-06-30
BFP-A3559
・
First edition
2018-02-01
BFP-A3559-A
・
The CR800-Q controller was added.
2018-09-01
BFP-A3559-B
・
2F-DQ520 and 2F-DQ521 were added.
2019-04-19
BFP-A3559-C
・
The predictive maintenance function and the extended
function of force sensor were added.
2020-10-30
BFP-A3559-D
・
Amended the precautions regarding the prevention of
unauthorized access.
・Added precautions regarding parameter PRGMDEG.
Elaborated on explanations.
2021-02-19
BFP-A3559-E
・
Revised description of M_SmartPlus command.

*Introduction
Thank you for purchasing this MELFA Mitsubishi Electric industrial robot.
This instruction manual describes the explanation of the MELFA Smart Plus card/card pack option.
Be sure to read this manual before using it and ask MELFA Smart Plus card/card pack to use it after fully
understanding the contents.
Although we strive to describe special handling as much as possible in this book, please interpret the items
not described in this document as "can not".
This manual is described on the premise that basic operations and functions of Mitsubishi Electric Industrial
Robots are understood. For basic operation, please refer to the separate manual "Detailed explanation of
functions and operation".
Notation method in this document
This indicates an item for which incorrect handling could present imminent
danger of death or serious injury.
This indicates an item for which incorrect handling could present a danger of
death or serious injury.
This indicates an item for which incorrect handling could present a danger of
injury. It could also present a danger of just physical damage.
Caution
Warning
Danger
・
No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・The details of this manual are subject to change without notice.
・The specification value is based on our standard test method.
・An effort has been made to make full descriptions in this manual. However, if any discrepancies or
unclear points are found, please contact your dealer.
・This is the original document.
・Company names and product names described in this document are trademarks or registered
trademarks of each company.
・
R
and TM are omitted in the text of this guide.
Copyright(C) 2017-2021 MITSUBISHI ELECTRIC CORPORATION ALL RIGHTS RESERVED

Contents
1. Usage ............................................................................................................................................................................... 1-1
1.1 How to Use this Document............................................................................................................................................ 1-1
2. Confirmation before use............................................................................................................................................... 2-2
2.1 Product confirmation...................................................................................................................................................... 2-2
3. MELFA Smart Plus card .............................................................................................................................................. 3-3
3.1 List of function................................................................................................................................................................ 3-3
3.1.1 Functions of A-type................................................................................................................................................. 3-3
3.1.2 Functions of B-type................................................................................................................................................. 3-5
3.2 Installing/removing and setting of the MELFA Smart Plus card .............................................................................. 3-6
3.2.1 Installing/removing of the MELFA Smart Plus card............................................................................................. 3-6
3.2.2 Setting of the MELFA Smart Plus card (Only MELFA Smart Plus card).......................................................... 3-9
3.3 Robot language specification....................................................................................................................................... 3-10
3.3.1 Robot status variable list....................................................................................................................................... 3-10
3.3.2 Detailed explanation of robot (system) state variable....................................................................................... 3-10
3.4 Error list ......................................................................................................................................................................... 3-13
4. Calibration assistance function ................................................................................................................................4-14
4.1 Outline............................................................................................................................................................................ 4-14
4.2 Automatic Calibration................................................................................................................................................... 4-16
4.3 Workpiece coordinate calibration................................................................................................................................ 4-35
4.4 Inter-robot relational calibration................................................................................................................................. 4-57
4.5 Robot Programming Language..................................................................................................................................... 4-62
4.5.1 Language list ........................................................................................................................................................... 4-62
4.5.2 Language detailed description............................................................................................................................... 4-63
5. Robot mechanism temperature compensation function......................................................................................5-78
5.1 Specification.................................................................................................................................................................. 5-78
5.2 Precautions.................................................................................................................................................................... 5-79
5.2.1 Please enable this function from the beginning.................................................................................................. 5-79
5.2.2 Accuracy is not obtained near the singular point and the vicinity of the motion range ............................... 5-79
5.3 Parameter setting ......................................................................................................................................................... 5-80
6. Coordinated control for additional axes..................................................................................................................6-82
6.1 Calibration of base coordinates .................................................................................................................................. 6-83
6.1.1 Overview.................................................................................................................................................................. 6-83
6.1.2 Specification............................................................................................................................................................ 6-83
6.1.3 Operation procedure .............................................................................................................................................. 6-84
6.1.4 Parameter setting................................................................................................................................................... 6-84
6.2 Base coordinate cooperative control......................................................................................................................... 6-85
6.2.1 Overview.................................................................................................................................................................. 6-85
6.2.2 System configration................................................................................................................................................ 6-88
6.2.3 Specification............................................................................................................................................................ 6-89
6.2.4 Operation procedure .............................................................................................................................................. 6-91
6.2.5 Parameter setting................................................................................................................................................... 6-92
6.2.6 Creatinn of robot program..................................................................................................................................... 6-93
6.3 Additional axis tracking ................................................................................................................................................ 6-95
6.3.1 Specification............................................................................................................................................................ 6-95

6.3.2 System configuration ............................................................................................................................................. 6-96
6.3.3 Specification............................................................................................................................................................ 6-98
6.3.4 Operation procedure ............................................................................................................................................ 6-100
6.3.5 Parameter setting................................................................................................................................................. 6-101
6.3.6 Creation of robot program................................................................................................................................... 6-105
6.3.7 Installation of a sample program......................................................................................................................... 6-113
6.3.8 Calibration of Robot and Base Coordinate Systems (“A1” program) ........................................................... 6-114
6.3.9 Resistration of User Mechanism Work Position (“B1” program) ................................................................... 6-119
6.3.10 Work Base Position Registration (“C1” program).......................................................................................... 6-123
6.3.11 Teaching and Setting of Adjustment Variables (“1” program)..................................................................... 6-127
6.4 Troubleshooting........................................................................................................................................................... 6-133
7. Appendix......................................................................................................................................................................7-135
7.1 Display of option card information............................................................................................................................ 7-135

1 Usage
How to Use this Document 1-1
1.Usage
This chapter explains the items to be checked and precautions before using the MELFA Smart Plus card/card
pack.
1.1 How to Use this Document
This document explains the functions of the MELFA Smart Plus card as shown in Table 1-1. For the functions
provided by the standard robot controller and how to operate them, refer to the "Instruction Manual" attached to
the robot controller.
The functions not described in Table 1-1are explained in the separate instruction manuals. Refer to the
following instruction manuals.
- Extended function of MELFA-3D Vision (BFP-A3626)
- Preventive Maintenance Function (BFP-A3625)
- Predictive Maintenance Function (BFP-3663)
- Force Sense Function (BFP-A3510)
Table 1-1 Contents of this instruction manual
Chapter
Title
Description
1 How to Use this Document
It explains how to use this manual (MELFA Smart Plus card
Instruction manual). Please read this before actually using MELFA
Smart Plus card/card pack.
2 Confirmation before use
When purchasing the MELFA Smart Plus card/card pack, please
confirm the necessary products and check the version of the robot
controller.
3 MELFA Smart Plus card
This product explains the function list and installation method to
the robot controller.
4 Calibration assistance function
We will describe the calibration support function using 2D vision
sensor.
5
Robot mechanism temperature
compensation function
Explain the robot mechanism temperature compensation function.
6
Coordinated control for
additional axes
Explain the coordinated control for additional axes.
7 Appendix
This section explains how to display card information of MELFA
Smart Plus card in RT ToolBox3.

2 Confirmation before use
2-2 Product confirmation
2.Confirmation before use
2.1 Product confirmation
The standard configuration of the product you purchased is as follows. Please confirm.
Table 2-1 Standard configuration of product
No.
Component name
Model name
Quantity
(1)
Instruction manual (this CD-ROM)
BFP-A3563
1
(2)
MELFA Smart Plus card pack
A-type
2F-DQ510
One of the four
models included
AB-type
2F-DQ520
MELFA Smart Plus card
A-type
2F-DQ511
B-type
2F-DQ521
Note) The numbers in the table correspond to the numbers in the figure below.
Figure 2-1 Items contained in the delivered product
(2)
(1)

3 MELFA Smart Plus card
List of function 3-3
3.MELFA Smart Plus card
MELFA Smart Plus card................You can select and use one of the functions according to the MELFA Smart
Plus card type. Refer to “3.1 List of function” for the details of functions.
MELFA Smart Plus card pack ....... You can use all the functions according to the MELFA Smart Plus card
pack type. Refer to “3.1 List of function” for the details of functions.
Table 3-1 Function supported by each type
Functions A-type B-type
Calibration assistance function
○
×
Robot mechanism temperature
compensation function
○×
Coordinated control for additional
axes
○×
Preventive maintenance function
○
×
Extended function of MELFA-3D
Vision
× ○
Predictive maintenance function
×
○
Extended function of force sensor
×
○
You can use all the functions of A-type and B-type according to the MELFA Smart Plus card pack type
(AB-type).
The preventative maintenance function cannot be used as it is over written by the predictive maintenance
function.
3.1 List of function
3.1.1 Functions of A-type
Table 3-2 List of functions of A-type
Function name Description
Parameter
“SMART+1”
setting
(*1)
1
Calibration assistance
function
(Chapter 4)
Using the 2D vision sensor, the following calibration
functions can be used.
(1) Automatic Calibration
Calibration of robot and vision sensor can be
automated.
(2) Workpiece coordinate calibration
Correct between the robot coordinates and workpiece
coordinates from the vision sensor.
(3) Inter-robot relational calibration
You can calculate the relationship between multiple
robots.
1
2
Robot mechanism
temperature
compensation function
(Chapter 5)
Measure the temperature of the robot arm and
automatically correct errors due to thermal expansion of the
arm.
2

3 MELFA Smart Plus card
3-4 List of function
Function name Description
Parameter
“SMART+1”
setting
(*1)
3
Coordinated control for
additional axes
(Chapter 6)
(1) Base coordinate cooperative control
Allows synchronized operation where a robot is
installed on an additional axis (linear axis) and its
speed relative to the workpiece in specified.
Supports machining of large workpieces using linear,
circular or spline interpolation that exceeds the robot’s
range of movement.
(2) Additional axis tracking
Allows synchronized operation where tracking of the
robot and workpieces on an additional axis (linear axis)
is specified.
Linear or circular interpolation while the workpiece is
being transported allows operations such as precision
sealing workand surface inspections.
3
4
Preventive maintenance
function
(Refer to the separate
instruction manual:
BFP-A3625.)
(1) Maintenance simulation
In the simulation of an actual device or RT ToolBox3,
the timing of parts replacement or maintenance in a
repeated specific pattern of movement can be
estimated. You can consider maintenance cycle in
advance, and test robots to verify they are parts
friendly.
(2) Consumption degree calculation function
Based on the actual robot operation conditions (such
as the number of motor revolutions and load
conditions), the consumption degree of robot
components [%] is calculated, and the timing of
maintenance, inspection, and overhaul is displayed
and reported. The function brings maintenance
efficiency by reporting maintenance timing and setting
maintenance priorities, etc.
4
(*1) For MELFA-Smart Plus card pack, this setting is not necessary.
In order to use the above function, the MELFA Smart Plus card/card pack must be attached to the robot
controller.

3 MELFA Smart Plus card
List of function 3-5
3.1.2 Functions of B-type
Table 3-3 List of functions of B-type
Function name Description
Parameter
“SMART+1”
setting
(*1)
1
Extended function of
MELFA-3D Vision
(Refer to the separate
instruction manual:
BFP-A3626.)
During the adjustment for the model-less recognition of
MELFA-3DVision, our AI and simulation technologies allow
to automatically adjust sensor parameters without needing
expert knowledge typically required.
101
2
Predictive maintenance
function
(Refer to the separate
instruction manual:
BFP-A3663.)
(1) Maintenance simulation
In the simulation of an actual device or RT ToolBox3,
the timing of parts replacement or maintenance in a
repeated specific pattern of movement can be
estimated. You can consider maintenance cycle in
advance, and test robots to verify they are parts
friendly.
(2) Consumption degree calculation function
Based on the actual robot operation conditions (such
as the number of motor revolutions and load
conditions), the consumption degree of robot
components [%] is calculated, and the timing of
maintenance, inspection, and overhaul is displayed
and reported. The function brings maintenance
efficiency by reporting maintenance timing and setting
maintenance priorities, etc.
(3) Abnormality detection function
Failing or degrading robot parts can be detected at an
early stage. The robot controller can detect failing
reduction gears and encoder faults. An additional
sensor or analyzing computer is not required.
102
3
Extended function of
force sensor
(Refer to the separate
instruction manual:
BFP-A3510.)
A learning function that optimizes insertion, fitting, phase
match insertion, and contact detection by adjusting force
sense control parameters and operation speed. Programs
suitable for jobs can be created by following the instructions
of the force sense wizard function. The learning function
optimizes adjustments for necessary settings.
103
(*1) For MELFA-Smart Plus card pack, this setting is not necessary.
In order to use the above function, the MELFA Smart Plus card/card pack must be attached to the robot
controller.

3 MELFA Smart Plus card
3-6 Installing/removing and setting of the MELFA Smart Plus card
3.2 Installing/removing and setting of the MELFA Smart Plus
card
3.2.1 Installing/removing of the MELFA Smart Plus card
When installing or removing the MELFA Smart Plus card/card pack, it is required to keep
the card/card pack in parallel with the controller.
MELFA Smart Plus card/card pack
Controller
Keep in parallel with
the controller.
Caution

3 MELFA Smart Plus card
Installing/removing and setting of the MELFA Smart Plus card 3-7
3.2.1.1. Installing of the MELFA Smart Plus card
Here is the procedure for installing the MELFA Smart Plus card/card pack.
Figure 3-1 Installation of MELFA Smart Plus card/card pack
1) Turn off the controller.
2) Grasp the interface cover removal lever lightly and pull out the interface cover.
3) Hold the handle of the MELFA Smart Plus card and insert it into SLOT 1 or SLOT 2.
At this time, please insert so that both ends of the card fit into the slots of the slot (SLOT 1 and SLOT 2
in Figure 3-1).
4) Insert the connector firmly until it is firmly locked until the release lever clicks.
Installation of the MELFA Smart Plus card is now complete.
MELFA Smart Plus card
or
MELFA Smart Plus card puck

3 MELFA Smart Plus card
3-8 Installing/removing and setting of the MELFA Smart Plus card
3.2.1.2. Removing of the MELFA Smart Plus card
Here is the procedure for removing the MELFA Smart Plus card/card pack.
Figure 3-2 Removing of MELFA Smart Plus card/card pack
1) Turn off the controller.
2) Remove the MELFA Smart Plus card with the removal lever pushed up. Hold the handle of the MELFA
Smart Plus card and pull out the MELFA Smart Plus card in parallel with the controller.
Removing of the MELFA Smart Plus card is now complete.
Removal lever
Handle

3 MELFA Smart Plus card
Installing/removing and setting of the MELFA Smart Plus card 3-9
3.2.2 Setting of the MELFA Smart Plus card (Only MELFA Smart Plus card)
When using the MELFA Smart Plus card, you can use only one supported function.
The setting method of the function to be used is shown below.
If you use the MELFA Smart Plus card pack, this setting is not necessary.
1) Select [Online] -> [Parameter] -> [Parameter List] from the project tree of RT Toolbox3 and display
the parameter list screen.
2) Enter the parameter name "SMART+1" on the parameter list screen and display the parameter
editing screen.
3) Change the setting value of parameter "SMART+1". Refer to the following table.
The error occurs if the robot programming language (commands, system functions, and state
variables) other than the set function is used. Refer to Table 3-6 for the details of errors.
Table 3-4 Relationship between the setting value and function
Setting value
Available functions
Flashing color of the LED (*1)
0
Cannot use the MELFA Smart Plus function
(Factory setting)
Red
1
Calibration assistance function
Green
2
Robot mechanism temperature compensation function
3
Coordinated control for additional axes
4
Preventive maintenance function
101
Extended function of MELFA-3D Vision
102
Predictive maintenance function
103
Extended function of force sensor
(*1) The location of the LED is shown in the Table 3-2.
If using the MELFA Smart Plus card pack, the LED flashes blue.
CAUTION Install only one MELFA Smart Plus card.
If multiple MELFA Smart Plus cards are installed, error (L3782) will occur without
flashing the LED. Refer to Table 3-6 for the details of errors.

3 MELFA Smart Plus card
3-10 Robot language specification
3.3 Robot language specification
This chapter explains the MELFA-BASIC VI robot program language relating to MELFA Smart Plus.
3.3.1 Robot status variable list
Below is a list of state variables related to the MELFA Smart Plus.
Table 3-5 Robot status variable list
Variable name
Array
designation
Function
Attribute
(*1)
Data type
M_SmartPlus
1
MELFA Smart Plus Function Enabled Available
R
Integer type
C_SmartPlus
1
MELFA Smart Plus function name
R
Character string
type
(*1) R : Only reading is possible. R/W : Both reading and writing are possible.
3.3.2 Detailed explanation of robot (system) state variable
The details of the state variables related to MELFA Smart Plus are shown below.
The way of viewing the contents described in the explanation of the status variable is as follows.
[Function] : This indicates a function of a variable.
[Format] : This indicates how to enter arguments of an instruction.
[ ] means that arguments may be omitted. System status variables can be
used in conditional expressions, as well as in reference and assignment
statements. In the format example, only reference and assignment
statements are given to make the description simple.
[Terminology] : This indicates the meaning and range of an argument.
[Reference Program] : An example program using variables is shown.
[Explanation] : This indicates detailed functions and precautions.