Mitsubishi Electric CR750-Q Instruction Manual page 447

SetPos
[Function]
Sets the value to the Position variable.
[Format]
<<Position Variable>>=SetPos(<X Axis>[,<Y Axis>[,<Z Axis>
[Terminology]
<Position Variable>
<X Axis>-<Z Axis>
<A Axis>-<C Axis>
<L1 Axis>-<L2 Axis>
[Reference Program]
1 P1=P_Curr
2 For M1=0 to 100 SETP 10
3 M2=P1.Z+M1
4 P2=SetPos(P1.X, P1.Y, M2)
5 Mov J2
6 Next M1
[Explanation]
(1) The value of each axis in joint variables can be changed.
(2) Variable can be described as arguments.
(3) Arguments can be omitted except for the X axis. They can be omitted for all subsequent axes. (Argu-
ments such as SetPos(10,10,,,,10) cannot be described.)
(4) In an argument, it is not allowed to describe a function with an argument. If described, an error occurs
when executed.
[Reference]
SetJnt
[Related parameter]
AXUNT, PRGMDEG
[,<A Axis>[,<B Axis>[,<C Axis>[,<L1 Axis>[,<L2 Axis>]]]]]]])
Sets the value to the Position variable.
The unit is mm.
The unit is Rad. (It can be switched to Deg using the PRGMDEG parameter.)
The unit depends on "AXUNT" Parameter.
' Only for the value of the Z axis, it is rotated by 10 mm each time.
The same value is used for the A and succeeding axes.
Detailed Explanation of Functions 4-427
4MELFA-BASIC V