Mitsubishi Electric CR750-Q Instruction Manual page 449

SplECord
[Function]
Saves the Ex-T coordinate system origin data registered in the spline file in the position variable.
[Format]
<Position Variable>=SplECprd(<Spline No.> [, <Frame transformation>])
[Terminology]
<Position Variable>
<Spline No.>
<Frame transformation>
[Reference Program]
1 P_WkCord(1) = SplECord(8)
2 P1 = SplECord(5)
3 P2 = SplECord(10,1)
[Explanation]
(1) Returns the Ex-T coordinate system origin data registered in the spline file specified by <Spline No.>.
(2) If a spline file corresponding to the <Spline No.> is not saved in the controller, the error L2610 (Can't
open spline file) will occur.
(3) If "1 (execute using coordinate system set in spline file)" or "2 (execute using coordinate system set with
SetCalFrm command) is designated in <Frame transformation>, the Ex-T coordinate system origin data
is converted based on the designated method, and the adjusted data is returned.
(4) If the coordinate system is not set in the spline file even though "1 (execute using coordinate system set
in spline file)" is designated in <Frame transformation>, error L2042 (Frame transformation coordinates
are not set) will occur.
(5) If the coordinate system cannot be calculated when "1 (execute using coordinate system set in spline
file)" is designated in <Frame transformation>, error L2041 (Can't calculate frame transformation coor-
dinates) will occur.
(6) If "2 (execute using coordinate system set with SetCalFrm command)" is designated for <Frame trans-
formation>, frame conversion is executed using the coordinate system set with the SetCalFrm com-
mand executed last. If the SetCalFrm command has not been executed even once and the coordinate
system is not set, error L2042 (Frame transformation coordinates are not set) will occur.
(7) If a spline file does not have the Ex-T coordinate settings , the error L2610 (The setting of Ex-T is illegal)
will occur.
The variables for a result to be substituted.
The number of the spline file holding information on the path to obtain
is designated with a constant or numerical variable.
Setting range: 1 to 99
The details for executing frame transformation are designated with
a constant or numerical variable.
Setting range:
0: Frame transformation is not executed.
1: Frame transformation is executed using coordinate system set
in spline file.
2: Frame transformation is executed using coordinate system set
with SetCalFrm command.
When omitted: Frame transformation is not executed.
' The origin data of the Ex-T coordinate system registered in spline file 8
is substituted to the work coordinate 1.
' The Ex-T coordinate system origin data registered in spline file 5 is
substituted to the position variable P1.
' Substitutes frame converted data for the Ex-T coordinate system ori-
gin data registered in spline file 10 for P2.
Detailed Explanation of Functions 4-429
4MELFA-BASIC V