2 INFORM Explanation
FS100 2.3 Operating Instruction : MULMAT
2-149
3. P Variable number/LP Variable number/P [Array
number]/LP [Array number]
Add the following tag.
No. Tag Explanation Note
3 P Variable number/
LP Variable number/
P [Array number]/
LP [Array number]
Specified the number of the position type variable for
which the matrix multiplication is calculated.
<Data 3>
MULMAT and INVMAT instructions
The amount of shift for a three-dimensional shift can be
obtained by using the MULMAT and INVMAT instructions.
The instructions, exclusive to the FS100, to obtain the shift
amount are used for the optional three-dimensional shift
function. However, the amount of the three-dimensional shift
can be also obtained by using the standard instructions,
MULMAT and INVMAT.
The target value for a three-dimensional shift can be calcu-
lated by the following equation.
Pnew=P3d × Pold
Where Pnew: Target position after a three-dimensional shift
P3d: Three-dimensional shift amount
Pold: Taught position
The amount of a three-dimensional shift can be obtained as
follows:
P3d=Pnew × Pold
-1
(1) MOVL P010 V=500
GETS PX020 $PX001
INVMAT P021 P010
MULMAT P023 P020 P021
Stores the current XYZ type value in P020.
Calculates the inverse matrix of the taught position.
The amount of the three-dimensional
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