Mitsubishi Electric CR750-Q Instruction Manual page 182

4MELFA-BASIC V
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> )
Zone3
( <Position 1>,<Position 2>,<Position
3>,<Position 4>
< Numeric value 1>, < Numeric value 2>,
< Numeric value 3>)
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> )
SplPos
(<Spline No.>, <Frame transforma-
tion>, <Path point No.>)
SplECord
(<Spline No.>, <Frame transforma-
tion>
4-162 Functions
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 1 is within the space (cube) created by four
positions (position 2, position 3, position 4) and three values (integer
1, integer 2, integer 3).
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.
Loads the path point data registered in a random spline file.
Loads the Ex-T coordinate system origin data registered in a ran-
dom spline file.
Functions Page Result
436 Numeric
value
437 Numeric
value
419 Numeric
value
420 Position
404 Numeric
value
426 Joint
427 Position
430 Position
429 Position