Mitsubishi Electric CR750-Q Instruction Manual page 280

4MELFA-BASIC V
Mvs (Move S)
[Function]
Carries out linear interpolation movement from the current position to the movement target position.
[Format 1]
Mvs[]<Movement Target Position> [, <Close Distance>]
[[]Type[]<Constants 1>,<Constants 2>][][<Appended Condition>]
[Format 2]
Mvs[], <Separation Distance>
[[]Type[]<Constants 1>,<Constants 2>][][<Appended Condition>]
[Terminology]
<Movement Target Position>
<Close Distance>
<Constants 1>
<Constants 2>
<Appended conditions>
<Separation Distance>
[Reference Program]
(1) Move to the target position P1 by XYZ interpolation.
1 Mvs P1
(2)Turns on the output signal 17 at the same time if it moves to the target position P1 by linear interpolation.
1 Mvs P1,100.0 Wth M_Out(17)=1
(3)Turns on output signal 20 if the input signal 18 is turned on while moving 50 mm in the Z direction of the
tool coordinate system of the target position P4+P5 (relative operation position obtained by addition) by
linear interpolation.
2 Mvs P4+P5, 50.0 WthIf M_In(18)=1, M_Out(20)=1
(4)Moves 50 mm in the Z direction of the tool coordinate system from the current position by linear interpolation.
3 Mvs ,50
4-260 Detailed explanation of command words
The final position for the linear interpolation. Describe a position using a posi-
tion type variable or constant, or a joint variable.
If this value is designated, the actual movement target position will be a posi-
tion separated by the designated distance in the tool coordinate system Z
axis direction (+/- direction).
Short cut/detour = 0/1, The default value is 0.
Equivalent rotation/3-axis XYZ/singular point passage = 0/1/2.
The default value is 0.
The Wth and WthIf statements can be used.
When this value is designated, the axis will move the designated distance
from the current position to the Z axis direction (+/- direction) of the tool coor-
dinate system.