Mitsubishi Electric CR750-Q Instruction Manual page 433

Inv
[Function]
Obtains the position data of the inverse matrix of the position variable. This is used to perform relative calcu-
lation of the positions.
[Format]
<Position Variables>=Inv(<Position Variables>)
[Reference Program]
1 P1=Inv(P2)
[Explanation]
(1) Obtains the position data of the inverse matrix of the position variable.
(2) Joint variables cannot be used as the argument. When a joint variable is used, an error will be gener-
ated.
(3) Since the return value is a position data, an error will be generated if a joint variable is used in the left-
hand side.
JtoP
[Function]
Given joint data will be converted into position data.
[Format]
<Position Variables>=JtoP(<Joint Variables>)
[Reference Program]
1 P1=JtoP(J1)
[Explanation]
(1) Converts the joint data into the position data.
(2) Position variables cannot be used as the argument. When a position variable is used, an error will be
generated.
(3) Since the return value is a position data, an error will be generated if a joint variable is used in the left-
hand side.
(4) The initial value of the target mechanism number is "1". Therefore, when mechanism number 1 is tar-
geted, after executing the RelM command, or the program slot is other than 1, execution of the GetM
command is unnecessary. If target mechanism is other than 1, execute the GetM command beforehand.
[Reference]
PtoJ
' P1 will contain the inverse matrix of P2.
' The position that expresses the J1 (joint type) position using the XYZ
type will be assigned to P1.
Detailed Explanation of Functions 4-413
4MELFA-BASIC V