Circular Interpolation Movement - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V
Program example
Program
1 *1)
Mvs P1, -50
2 Mvs P1
3 *1)
Mvs ,-50
4
Mvs P2, -100 Wth M_Out(17)=1
5 Mvs P2
6 *1)
Mvs , -100
7 End
*Related functions
Designate the movement speed. ..............................................................
Designate the acceleration/deceleration time. .........................................
Confirm that the target position is reached. .............................................
Continuously move to next position without stopping at target position....
Move with joint interpolation......................................................................
Move while drawing a circle or arc. ...........................................................
Add a movement command to the process...............................................

(3) Circular interpolation movement

The robot moves along an arc designated with three points using three-dimensional circular interpolation.
If the current position is separated from the start point when starting circular movement, the robot will move
to the start point with linear operation and then begin circular interpolation.
*Command word
Command word
Mvr
Mvr2
Mvr3
Mvc
4-100 MELFA-BASIC V functions
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direction.
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*1)
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Function
Designates the start point, transit point and end point, and moves the robot with circular
interpolation in order of the start point - transit point - end point. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated.
Designates the start point, end point and reference point, and moves the robot with circular
interpolation from the start point - end point without passing through the reference point. It is
possible to specify the interpolation form using the TYPE instruction. An appended statement Wth
or WthIf can be designated.
Designates the start point, end point and center point, and moves the robot with circular
interpolation from the start point to the end point. The fan angle from the start point to the end
point is 0 deg. < fan angle < 180 deg. It is possible to specify the interpolation form using the
TYPE instruction. An appended statement Wth or WthIf can be designated.
Designates the start point (end point), transit point 1 and transit point 2, and moves the robot with
circular interpolation in order of the start point - transit point 1 - transit point 2 - end point. An
appended statement Wth or WthIf can be designated.
(1)
Moves with linear interpolation from P1 to a position retracted 50mm in the hand
(2)
Moves to P1 with linear interpolation.
(3)
Moves with linear interpolation from the current position (P1) to a position retracted
50mm in the hand direction.
(4) Output signal bit 17 is turned on at the same time as the robot starts moving.
(5)
Moves with linear interpolation to P2.
(6)
Moves with linear interpolation from the current position (P2) to a position retracted
50mm in the hand direction.
Ends the program.
Page 103, "(5) Acceleration/deceleration time and speed
control"
Page 103, "(5) Acceleration/deceleration time and speed control"
Page 105, "(6) Confirming that the target position is reached"
Page 102, "(4) Continuous movement"
Page 98, "(1) Joint interpolation movement"
Page 100, "(3) Circular interpolation movement"
Page 302, " Wth (With)"
Explanation
Explanation
Explanation page