Mitsubishi MELFA CR1D User Manual

4-341 Detailed Explanation of Functions
4MELFA-BASIC IV
Zone 2
[Function]
Checks if the specified position is within the specified area (Cylindrical area defined by two points).
[Format]
[Terminology]
<Position 1> The position to be checked.
<Position 2> The position of the first point that specifies the area.
<Position 3> The position of the second point that specifies the area.
<Equation> Radius of the hemisphere on both ends.
[Reference Program]
1 M1=Zone2(P1,P2,P3,50)
2 If M1=1 Then Mov P_Safe Else End
[Explanation]
(1) This will check if position 1 is inside the cylindrical area (Refer to diagram below) defined by the two
points, position 2 and position 3, and the radius represented by the equation. If the point is inside the
space, 1 is returned; otherwise, 0 is returned.
(2) This function checks whether the check position (X, Y, and Z coordinates) is within the specified area,
but does not take the posture components into consideration.
(3) It is not possible to describe a function that contains an argument in <Position 1>, <Position 2>, <Posi-
tion 3> and <Equation>. If such a function is described, an error will be generated during execution.
<Numeric Variable>=Zone2(<Position 1>, <Position 2>, <Position 3>, <Equation>)
P2 P3
P1
r

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English