Mitsubishi Electric CR750-Q Instruction Manual page 246

4MELFA-BASIC V
(3) The work coordinate numbers 1 to 8 correspond to WK1CORD to WK8CORD.
(4) Only MELFA-BASIC V can be used.
(5) The movement speed during Ex-T control linear interpolation can be also specified by the Spd com-
mand. The Ovrd command or the O/P override setting also changes the speed.
(6) The acceleration/deceleration of the Ex-T control linear interpolation is optimum when Oadl ON is set
(initial value). The Accel command is valid.
(7) The MvTune command can switch the operation mode.
(8) Path connection by the Cnt command and the positioning accuracy specification by the Fine command
are also available.
(9) The Ex-T control linear interpolation can be interrupted or resumed during operation. Returning to the
interrupted position is performed by the normal interpolation operation, not by the Ex-T control linear
interpolation. The interpolation type to the interrupted position depends on the RETPATH parameter set-
ting. The initial setting is "returning to the interrupted position by JOINT interpolation".
(10) This cannot be used in programs set to ALWAYS or ERROR. (The error L3287 will occur.)
(11) 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.
(12) 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-
nates is also moved along with the robot. Accordingly, operating an additional axis using this command is
not recommended. Also, do not perform synchronous control of additional axis while using this com-
mand.
(13) If 1 (3-axis XYZ) is specified to <Constants 2> of this command, movement of the robot is the same as
1 (3-axis XYZ) is specified to <Constants 2> of Mvs command.
[Related instructions]
EMvc (E Move C), EMvr (E Move R), EMvr2 (E Move R 2), EMvr3 (E Move R 3)
[Related system variables]
P_WkCord (Work coordinates data)
[Related parameter]
WK1CORD to WK8CORD
4-226 Detailed explanation of command words