To Next Page

To Previous Page

4-319 Detailed Explanation of Functions

4MELFA-BASIC IV

Fram

[Function]

Calculates the position data that indicates a coordinate system (plane) specified by three position data.

Normally, use Def Plt and Plt instructions for pallet calculation.

[Format]

[Terminology]

<Numeric Variable 1> This will be the origin of X, Y, and Z of the plane to be specified by three posi-

tions. A variable or a constant.

<Numeric Variable 2> A point on the X axis of the plane to be specified by three positions. A variable

or a constant.

<Numeric Variable 3> A point in the positive Y direction of the X-Y plane on the plane to be specified

by three positions. A variable or a constant.

<Numeric Variable 4> Variable to which the result is assigned.

Substitute the structural flag by the value of <position 1>.

[Reference Program]

1 Base P_NBase

2 P100=Fram(P1,P2,P3) ' Create P100 coordinate system based on P1, P2 and P3 positions.

3 P10=Inv(P10)

4 Base P10 ' Position of P100 will be used as the origin for robot.

[Explanation]

(1) This can be used to define the base coordinate system.

(2) This creates a plane from the three coordinates X, Y, and Z for the three positions to calculate the posi-

tion of the origin and the inclination of the plane, and returns the result as a position variable. The X, Y,

and Z coordinates of the position data will be identical to that of position variable 1, while A, B, and C

will be the inclination of the plane to be specified by the three positions.

(3) Since the return value is a position data, an error will be generated if a joint variable is used in the left-

hand side.

(4) It is not possible to describe a function that contains an argument in <position 1>, <position 2> and

<position 3>. If such a function is described, an error will be generated during execution.

NG example

P10=Fram(FPrm(P01,P02,P03), P04, P05)

[Reference]

Relative conversion (* operator). Refer to Page 367, "5.8 About user-defined area".

<Numeric Variable 4>=Fram(<Numeric Variable 1>, <Numeric Variable 2>,

<Numeric Variable 3>)

Mitsubishi MELFA CR1D User Manual

Questions and Answers: