Mitsubishi Electric CR750-Q Instruction Manual page 455

Zone
[Function]
Checks if the specified position is within the specified area (a rectangular solid defined by two points).
[Format]
<Numeric Variable>=Zone(<Position 1>, <Position 2>, <Position 3>)
[Terminology]
<Position 1>
<Position 2>
<Position 3>
Positions 1 to 3 set the XYZ coordinates variable system (P variable X, Y, Z, A, B, C, L1 and L2).
[Reference Program]
1 M1=Zone(P1,P2,P3)
2 If M1=1 Then Mov P_Safe Else End
[Explanation]
(1) This will check if position 1 is inside the rectangular solid defined by the two points, position 2 and posi-
tion 3. (The two points will become the diagonal points of the rectangular solid.) If the point is inside the
rectangular solid, 1 is returned; otherwise, 0 is returned.
(2) To check whether position 1 is inside that area, each element of position 1 (X, Y, Z, A, B, C, L1 and L2)
will be checked if it is between the values for position 2 and position 3.
(3) As for the posture angles (A, B, and C), they are checked by rotating in the positive direction from the
angle in position 2 to position 3 and by seeing if the target value is inside the swiped range.
Example) If P2.A is -100 and P3.A is +100, if P1.A is 50, the value is within the range. Similar checking
will be performed for B and C axes. (Refer to diagram below.)
(4) For components that are not checked or do not exist, if the unit is in degrees, position 2 will be set to -
360 and position 3 will be set to 360. If the unit is in millimeters, position 2 will be set to -10000 and
position 3 will be set to 10000.
(5) It is not possible to describe a function that contains an argument in <Position 1>, <Position 2> and
<Position 3>. If such a function is described, an error will be generated during execution.
Z
P2
X
The position to be checked.
The position of the first point that specifies the area.
The position of the second point that specifies the area. (diagonal point)
P3
<Position 3>
+
Y
P1
<Position 2>
+
±0°
Example) If the value passes through 0 from -90 to +90,
the following setting is necessity.
<Position 2>
-
±180°
Example) If the value passes through 180 from -90 to +90,
±0°
the following setting is necessity.
<Position 3>
-
±180°
Detailed Explanation of Functions 4-435
4MELFA-BASIC V
Sets the negative value to ABC of <position 2>.
Sets the positive value to ABC of <position 3>.
Sets the positive value to ABC of <position 2>.
Sets the negative value to ABC of <position 3>.