Mitsubishi CRn-500 Series Instruction Manual page 82

8.User Mechanism Settings, Operation, and Commands
Class
TAN(<Numeric expression>)
Character string BIN$(<Numeric expression>)
functions
CHR$(<Numeric expression>)
HEX$(<Numeric expression>)
LEFT$(<Character string expres-
sion>,<Numeric expression>)
MID$(<Character string expression>,
<Numeric expression>,
<Numeric expression>)
MIRROR$
(<Character string expression>)
MKI$(<Numeric expression>)
MKS$(<Numeric expression>)
MKD$(<Numeric expression>)
RIGHT$
(<Character string expression>,
<Numeric expression>)
STR$(<Numeric expression>)
CKSUM
(<Character string expression>,
<Numeric expression>,
<Numeric expression>)
Position INV(<Position>)
variables
PTOJ(<Position>)
JTOP(<Position>)
ZONE(<Position 1>,<Position 2>,
<Position 3>)
(3) Instructions related to movement control that operate without any problem in the user mechanism
Command
MOV(Move)
MVA(Move Arch)
OVRD(Override)
JOVRD(J Override)
CNT (Continuous)
68
Function name (format)
Joint interpolation
Arch motion interpolation
Overall speed specification
Speed specification during joint interpolation movement
Continuous path mode specification
Functions
Calculates the tangent. Unit: radian
Definition range: Numeric value range,
Value range: Range of numeric value
Converts numeric expression value into binary
character string.
Provides character having numeric expression
value character code.
Converts numeric expression value into
hexadecimal character string.
Obtains character string having length
designated with 2nd argument from left side of
1st argument character string.
Obtains character string having length
designated with 3rd argument from the
position designated with the 2nd argument in
the 1st argument character string.
Mirror reversal of the character string binary bit
is carried out.
Converts numeric expression value into 2-byte
character string.
Converts numeric expression value into 4-byte
character string.
Converts numeric expression value into 8-byte
character string.
Obtains character string having length
designated with 2nd argument from right side
of 1st argument character string.
Converts the numeric expression value into a
decimal character string.
Creates the checksum of a character string.
Returns the value of the lower byte obtained
by adding the character value of the second
argument position to that of the third argument
position, in the first argument character string.
Obtains the reverse line.
Converts the position data into joint data.
Converts the joint data into position data.
Checks whether position 1 is within the space
(Cube) created by the position 2 and position 3
points.
Outside the range=0, Within the range=1
For position coordinates that are not checked
or non-existent, the following values should be
assigned to the corresponding position
coordinates: If the unit is degrees, assign -360
to position 2 and 360 to position 3 If the unit is
mm, assign -10000 to position 2 and 10000 to
position 3
Explanation
Result
Numeric
value
Character
string
Numeric
value
Position
Joint
Position
Numeric
value