Mitsubishi Electric CR750-Q Instruction Manual page 457

Zone3
[Function]
Checks if the specified position is within the specified area (The cube which consists of the three points).
[Format]
<Numeric Variable>=Zone3(<Position 1>, <Position 2>, <Position 3>, <Position 4>, <Equation
[Terminology]
<Position 1>
<Position 2>
<Position 3>
<Position 4>
<Equation W>
<Equation H>
<Equation L>
[Reference Program]
1 M1=Zone3(P1,P2,P3,P4,100,100,50)
2 If M1=1 Then Mov P_Safe Else End
[Explanation]
(1) This will check if position 1 is inside the cube area (Refer to diagram below) defined by the three points,
position 2, position 3 and position 4, and the Equation W, Equation H and Equation L.
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.
L
(3) It is not possible to describe a function that contains an argument in <Position 1>, <Position 2>, <Posi-
tion 3>, <Position 4>, <Equation W>, <Equation H> and <Equation L>. If such a function is described,
an error will be generated during execution.
(4) If the negative value is inputted into <Equation W> and <Equation H>, the error occurs.
(5) Since the specified area cannot be created if the same position or the position on the same straight line
is inputted into <Position 2>- <Position 4>, return -1, without checking.
By the negative number, <Equation L> returns -1, without checking, if the absolute value is less than
the half of the distance for <Position 2> and <Position 3>.
W>, <Equation H>, <Equation L>)
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.
The position of the point of specifying the plane which constitutes the area with
<the position 2> and <the position 3>
Width of the cube which constitutes the area. [mm]
Height of the cube which constitutes the area. [mm]
Each depth from <the position 2> and <the position 3> of the cube which con-
stitutes the area. [mm]
P4
P2
P1
P3
L
Detailed Explanation of Functions 4-437
4MELFA-BASIC V
H
W