Mitsubishi Electric CR750-Q Instruction Manual page 456

4MELFA-BASIC V
Zone 2
[Function]
Checks if the specified position is within the specified area (Cylindrical area defined by two points).
[Format]
<Numeric Variable>=Zone2(<Position 1>, <Position 2>, <Position 3>, <Equation>)
[Terminology]
<Position 1>
<Position 2>
<Position 3>
<Equation>
[Reference Program]
1 M1=Zone2(P1,P2,P3,50)
2 If M1=1 Then Mov P_Safe Else End
[Explanation]
(1) This will check if position 1 is inside the cylindrical area (Refer to diagram below) defined by the two
points, position 2 and position 3, and the radius represented by the equation. If the point is inside the
space, 1 is returned; otherwise, 0 is returned.
(2) This function checks whether the check position (X, Y, and Z coordinates) is within the specified area,
but does not take the posture components into consideration.
r
P2
(3) It is not possible to describe a function that contains an argument in <Position 1>, <Position 2>, <Posi-
tion 3> and <Equation>. If such a function is described, an error will be generated during execution.
4-436 Detailed Explanation of Functions
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.
Radius of the hemisphere on both ends.
P1
P3