YASKAWA FS100 - Page 174

2 INFORM Explanation
FS100 2.3 Operating Instruction : INVMAT
2-151
Example
(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