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4MELFA-BASIC IV
Class
Function name (format)
Trigonometric
Cos(<Numeric expression>)
functions
Sin(<Numeric expression>)
Tan(<Numeric expression>)
Character
Bin$(<Numeric expression>)
string func-
Chr$(<Numeric expression>)
tions
Hex$(<Numeric expression>)
Left$(<Character string expres-
sion>,<Numeric expression>)
Mid$(<Character string expression>,
<Numeric expression>
<Numeric expression>)
Mirror$(<Character string expres-
sion>)
Mki$(<Numeric expression>)
Mks$(<Numeric expression>)
Mkd$(<Numeric expression>)
Right$(<Character string expres-
sion>,<Numeric expression>)
Str$(<Numeric expression>)
CkSum(<Character string expres-
sion>,<Numeric expression>,
<Numeric expression>)
Position vari-
Dist(<Position>,<Position>)
ables
Fram
(<Position 1>,<Position 2>,
<Position 3>)
Rdfl1(<Position>,< Numeric value >)
Setfl1(<Position>,< Character >)
Rdfl2(<Position>,< Numeric value >)
Setfl2
(<Position>>,< Numeric value >,
< Numeric value >)
Align(<Position>)
Inv(<Position>)
PtoJ(<Position>)
JtoP(<Position>)
Zone
(<Position 1>,<Position 2>,<Position 3>)
4-145 Functions
Calculates the cosine
Definition range: Numeric value range, Value range: -1 to +1
Calculates the sine
Definition range: Numeric value range, Value range: -1 to +1
Calculates the tangent.
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 argu-
ment from left side of 1st argument character string.
Obtains character string having length designated with 3rd argu-
ment 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 argu-
ment 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 distance between two points.
Calculates the coordinate system designated with three points. Position
1 is the plane origin, position 2 is the point on the +X axis, and position
3 is the point on the +Y axis direction plane. The plane origin point and
posture are obtained from the XYZ coordinates of the three position,
and is returned with a return value (position). This is operated with 6-
axis three dimensions regardless of the mechanism structure.
This function cannot be used in 5-axis robots, because the A, B, and
C posture data has different meaning.
Returns the structure flag of the designated position as character data.
Argument <numeric value> ) 0 = R/L, 1 = A/B , 2 = F/N is returned.
Changes the structure flag of the designated position. The data to
be changed is designated with characters.(R/L/A/B/F/N)
Returns the multi-rotation data of the designated position as a
numeric value (-2 to 1).
The argument <numeric expression> returns the axis No. (1 to 8).
Changes the multi-rotation data of the designated position as a
numeric value (-2 to 1). The left side of the expression is the axis
No. to be changed; the right side is the value to be set.
Returns the value of the XYZ position (0,+/-90, +/-180) closest to the
position 1 posture axis (A, B, C).
This function cannot be used in 5-axis robots, because the A, B, and
C posture data has different meaning.
Obtains the reverse matrix.
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
Functions
Unit: radian
Unit: radian
Unit: radian
Result
Page
314
Numeric
value
336
338
311
Character
313
string
320
322
324
325
326
326
327
331
338
314
Numeric
value
317
Position
319
329
Character
332
330
Numeric
value
333
309
321
Position
328
Joint
321
Position
340
Numeric
value
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