InsidePlane Function
Returns the check status of the approach check plane.
Syntax
InsidePlane(PlaneNum [, robotNumber | All])
Parameters
- PlaneNum
- Specify the number of the entry detection plane (an integer from 1 to 15) whose status is to be returned.
- robotNumber
- Specify the number of the robot to be detected as an integer value. If omitted, the current robot will be specified. If you specify All, True is returned if one robot is in the check area.
Return Values
True if the robot end effector approaches the specified approach check plane, otherwise False.
See Also
InsideBox, GetRobotInsidePlane, Plane, PlaneClr, PlaneDef
Note
You can use the Wait statement with InsidePlane to wait for the result of the InsidePlane function in EPSON RC+ 5.0. However, you cannot use it in EPSON RC+ 6.0, RC+ 7.0, and Epson RC+ 8.0. In this case, use the GetRobotInsidePlane function instead of the InsidePlane function.
Correspondence table
| RC+ version | Robot Controller | Wait | Till, Find, Sense, Trap | Other commands (such as Print)/branch decision processing | Use of GetRobotInsidePlane Function |
|---|---|---|---|---|---|
| RC+ 8.0 | RC700 series | Not available | Not available | Available | All available |
| RC+ 8.0 | RC90 series | Not available | Not available | Available | All available |
| RC+ 7.0 | RC700 series | Not available | Not available | Available | All available |
| RC+ 7.0 | RC90 series | Not available | Not available | Available | All available |
| RC+ 6.0 | RC620 | Not available | Not available | Available | All available |
| RC+ 5.0 | RC90 series | Available | Not available | Available | Not available |
- Not available: Unavailable combination
- Available: Available combination
- All available: Available for Wait, Till, Find, Sense, Trap, Print, and branch decision processing.
InsidePlane Function Example
This is an example to check Robot 1 is in the check plane (Plane 3).
Function PrintInsidePlane
If InsidePlane(3,1) = True Then
Print "Inside Plane3"
Else
Print "Outside Plane3"
EndIf
Fend