4-321
Detailed Explanation of Functions
4MELFA-BASIC IV
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]
[Reference Program]
1 P1=Inv(P2)
' P1 will contain the inverse matrix of 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]
[Reference Program]
1 P1=JtoP(J1)
' The position that expresses the J1 (joint type) position using the XYZ
type will be assigned to P1.
[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.
[Reference]
<Position Variables>=Inv(<Position Variables>)
<Position Variables>=JtoP(<Joint Variables>)
