Mitsubishi Electric CR750-Q Instruction Manual page 450

4MELFA-BASIC V
SplPos
[Function]
Saves a random path point data registered in the spline file in the position variable.
[Format]
<Position Variable>=SplPos(<Spline No.>, <Path point No.> [, <Frame transformation>])
[Terminology]
<Position Variable>
<Path point No.>
<Frame transformation>
[Reference Program]
1 P1 = SplPos(1,5)
2 P2 = SplPos(1,10,1)
[Explanation]
(1) Returns path point position data corresponding to the <Path point No.> registered in the spline file spec-
ified with the <Spline No.>.
(2) The value of the path point data registered in the specified spline file is substituted to the configuration
flag.
(3) 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.
(4) If a path point information corresponding to the <Path point No.> is not saved in the spline file, the error
L2610 (Path point is not registered) will occur.
(5) 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 path point data is converted based
on the designated method, and the path point data is returned.
(6) 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.
(7) 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.
(8) 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.
4-430 Detailed Explanation of Functions
The variables for a result to be substituted. The value of the path
point data registered in the specified spline file is substituted to
the configuration flag.
Specify the path point number to obtain with the constant or the numeric
variable.
Setting range: 1 to 5000
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.
' Substitutes spline file 1 path point 5 position data for position variable
P1.
' Substitutes frame converted data for spline file 1 path point 10 position
data for position variable P2.