Mitsubishi Electric CR750-Q - Page 182

4-162 Functions
4MELFA-BASIC V
Position vari-
ables
Zone2
(
<Position 1>,<Position 2>,<Position 3>
< Numeric value 1>, < Numeric value 2>,
<
Numeric value 3>, <Position 4> )
Checks whether position 1 is within the space (cylinder) created by
the position 2 and position 3 points.
Outside the range=0, Within the range=1
Only the X, Y, and Z coordinate values are considered; the A, B, and
C posture data is ignored.
436 Numeric
value
Zone3
(
<Position 1>,<Position 2>,<Position
3>,<Position 4>
< Numeric value 1>, < Numeric value 2>,
<
Numeric value 3>)
Checks whether position 1 is within the space (cube) created by four
positions (position 2, position 3, position 4) and three values (integer
1, integer 2, integer 3).
Outside the range=0, Within the range=1
Only the X, Y, and Z coordinate values are considered; the A, B, and
C posture data is ignored.
437 Numeric
value
PosCq(<Position>) Checks whether <position> is within the movement range. 419 Numeric
value
PosMid
(<Position1>,<Position2>,
<
Numeric value 1>, < Numeric value 2>)
Calculates the middle position between <position 1> and <position
2>.
420 Position
CalArc
(
<Position 1>,<Position 2>,<Position 3>
< Numeric value 1>, < Numeric value 2>,
<
Numeric value 3>, <Position 4> )
Returns information of an arc created from <position 1>, <position
2>, and <position 3>.
404 Numeric
value
SetJnt
(<J1 axis>,<J2 axis>,<J3 axis>,<J4 axis>
<J5 axis>,<J6 axis>,<J7 axis>,<J8 axis>
)
Sets values in joint variables.
426 Joint
SetPos
(<X axis>,<Y axis>,<Z axis>,<A axis>
<B axis>,<C axis>,<L1 axis>,<L2 axis>
)
Sets values in position variables.
427 Position
SplPos
(<Spline No.>, <Frame transforma-
tion>, <Path point No.>)
Loads the path point data registered in a random spline file. 430 Position
SplECord
(<Spline No.>, <Frame transforma-
tion>
Loads the Ex-T coordinate system origin data registered in a ran-
dom spline file.
429 Position
Class Function name (format) Functions
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Result