Mitsubishi MELFA CR1D User Manual

4-327 Detailed Explanation of Functions
4MELFA-BASIC IV
Mkd$
[Function]
Converts the value of an equation (double-precision real number) into a eight-byte string.
[Format]
[Reference Program]
1 C1$=Mkd$(10000.1) '
2 M1=Cvd(C1$) ' 10000.1 is assigned to M1.
[Explanation]
(1) Converts the lowest eight bytes of the value of an equation (single-precision real number) into the
strings.
(2) Use Cvd to convert the string to a value.
(3) This can be used to reduce the amount of communication data when transmitting numerical data to
external devices.
[Reference]
Asc, Cvi, Cvs, Cvd, Mki$, Mki$
PosCq
[Function]
Checks whether the given position is within the movement range.
[Format]
[Reference Program]
1 M1=PosCq(P1) ' M1 will contain 1 if the position P1 is within the movement range.
[Explanation]
(1) Check whether the position data given by an argument is within the movement range of the robot. Value
1 will be returned if it is within the movement range of the robot; value 0 will be returned if it is outside
the movement range of the robot.
(2) Arguments must give either the position data type or joint data type.
<Character String Variable >=Mkd$(<Equation>)
<Numeric Variable>=PosCq(<Position Variables>)

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English