Mitsubishi MELFA CR1D Instruction Manual page 159

Class Function name (format)
Position vari- Zone2
ables ( <Position 1>,<Position 2>,<Position 3>
< Numeric value 1>, < Numeric value 2>,
< Numeric value 3>, <Position 4> )
PosCq(<Position>)
PosMid
(<Position1>,<Position2>,
< Numeric value 1>, < Numeric value 2>)
CalArc
( <Position 1>,<Position 2>,<Position 3>
< Numeric value 1>, < Numeric value 2>,
< Numeric value 3>, <Position 4> )
SetJnt
(<J1 axis>,<J2 axis>,<J3 axis>,<J4 axis>
<J5 axis>,<J6 axis>,<J7 axis>,<J8 axis> )
SetPos
(<X axis>,<Y axis>,<Z axis>,<A axis>
<B axis>,<C axis>,<L1 axis>,<L2 axis> )
Checks whether position 1 is within the space (cylinder) created by
the position 2 and position 3 points.
Outside the range=0, Within the range=1
Only the X, Y, and Z coordinate values are considered; the A, B, and
C posture data is ignored.
Checks whether <position> is within the movement range.
Calculates the middle position between <position 1> and <position
2>.
Returns information of an arc created from <position 1>, <position
2>, and <position 3>.
Sets values in joint variables.
Sets values in position variables.
Functions
4MELFA-BASIC IV
Result
Page
341 Numeric
value
327 Numeric
value
328 Position
312 Numeric
value
Joint
334
Position
335
Functions 4-146