Mitsubishi Electric CR750-Q Instruction Manual page 241

EMvr2 (E Move R 2)
[Function]
Carries out 3-dimensional circular arc interpolation movement along the work coordinates system (Ex-T
coordinates system) from the start point to the end point on the arc composed of the start point, end point,
and reference points. The movement direction does not pass through the reference points.
(For the outline of the function, refer to
[Format]
EMvr2[]<Work Coordinates Number>, <Start Point>, <End Point>, <Reference Point>
[[]Type[] <Constants 1>, <Constants 2>][[]<Appended Conditions>]
[Terminology]
<Work Coordinates Number>
<Start Point>
<End Point>
<Reference Point>
<Constants 1>
<Constants 2>
<Appended Conditions>
[Reference Program]
1 EMvr2 1, P1, P2, P3
2 EMvr2 2, P1, J2, P3
3 EMvr2 2, P1, P2, P3 Wth M_Out(17)=1
4 EMvr2 4, P3, (Plt 1, 5), P4 WthIf M_In(20)=1, M_Out(21)=1
[Explanation]
(1) In circular arc interpolation motion, a circle is formed with three given points, and robot moves along the
circumference.
(2) The posture is interpolation from the start point to the end point; the reference point posture has no
effect.
(3) If the current position and start point do not match, the robot will automatically move with linear interpola-
tion (3-axis XYZ interpolation) to the start point.
(4) If paused during execution of a Mvr instruction and restarted after jog feed, the robot returns to the
interrupted position by JOINT interpolation and restarts the remaining circle interpolation.
The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted
position can be changed by the "RETPATH" parameter. (Refer to
ting after jog feed at
(5) The direction of movement is in a direction that does not pass through the reference points.
(6) If the start point and end point structure flags differ when equivalent rotation (constant 2 = 0) is specified,
an error will occur at the execution.
(7) Of the three designated points, if any points coincide with the other, or if three points are on a straight
line, linear interpolation will take place from the start point to the end point. An error will not occur.
(8) If 3-axis XYZ is designated for the constant 2, the constant 1 will be invalidated, and the robot will move
with the taught posture.
(9) This cannot be used in programs set to ALWAYS or ERROR. (The error L3287 will occur.)
(10) When the work coordinates system is not specified, the initial value is 0 (0, 0, 0, 0, 0, 0) for all elements.
If the Ex-T control linear interpolation is executed in this condition, the movement is performed along the
world coordinates system origin.
(11) If any additional axis is provided, the additional axis also moves. However, the additional axis is not
included in the Ex-T control. Therefore, the robot position may be deviated from its original working posi-
tion when the robot arm is moved with the additional axis such as the travel axis and the work coordi-
Page 677, "7.4 Ex-T
A work coordinate number which is chosen from 1 through 8.
Start point for the arc. Describe a position using a position type variable or
constant, logic/arithmetic expressions, functions, or a joint variable.
End point for the arc. Describe a position using a position type variable or
constant, logic/arithmetic expressions, functions, or a joint variable.
Reference point for a circular arc. Describe a position using a position type
variable or constant, logic/arithmetic expressions, functions, or a joint vari-
able.
Specify the posture rotation.
Short cut = 0, The default value is 0.
Specify the posture interpolation method.
Equivalent rotation/3-axis XYZ = 0/1. The default value is 0.
The Wth and WthIf statements can be used.
pause")
control".)
Page 482, "5.10 Automatic return set-
Detailed explanation of command words 4-221
4MELFA-BASIC V