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Setfl 1
[Function]
Changes the structure flag of the specified position using a string (such as "RAN").
[Format]
<Position Variables>=Setfl1(<Position Variables>, <Character String>)
[Terminology]
<Position Variables>Specifies the position variable whose structure flag is to be changed.
<Character String> Specifies the structure flag to be changed. Multiple flags can be specified.
[Reference Program]
1 Mov P1
2 P2=Setfl1(P1,"LBF")
3 Mov P2
[Explanation]
(1) Returns the position data obtained by changing the structure flags in the position data specified by argu-
ment 1 to flag values specified by argument 2.
(2) This function changes information from the FL1 element of position data. The content of the position data
given by the argument will remain unchanged.
(3) The structure flag will be specified starting from the last character in the string. Therefore, for instance, if
the string "LR" is specified, the resulting structure flag will be "L".
(4) If the flags are changed using a numerical value, set P1.FL1=7.
(5) Structure flags may have different meanings depending on the robot model. For details, please refer to
"ROBOT ARM SETUP & MAINTENANCE" for each robot.
The structure flag corresponds to 7 in the position constant (100, 0, 300, 180, 0, 180) (7, 0). The actual posi-
tion is a bit pattern.
7 = & B 0 0 0 0 0 1 1 1
(6) It is not possible to describe a function that contains an argument in <Position Variables> and
<Character String>. If such a function is described, an error will be generated during execution.
[Reference]
Rdfl
1,
Rdfl
2,
Setfl 2
"R" or "L": Right/Left setting.
"A" or "B": Above/Below setting.
"N" or "F": Nonflip/Flip setting.
1/0=N/F
1/0=A/B
1/0=R/L
4MELFA-BASIC IV
Detailed Explanation of Functions 4-332
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