Mitsubishi Electric CR760-D User Manual

4-100 MELFA-BASIC V functions
4MELFA-BASIC V
Program example
*Related functions
(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
Program Explanation
1
Mvs P1, -50
*1) ' (1) Moves with linear interpolation from P1 to a position retracted 50mm in the hand
direction.
2 Mvs P1
'
(2) Moves to P1 with linear interpolation.
3
Mvs ,-50
*1) ' (3) Moves with linear interpolation from the current position (P1) to a position retracted
50mm in the hand direction.
4
Mvs P2, -100 Wth M_Out(17)=1
*1) (4) Output signal bit 17 is turned on at the same time as the robot starts moving.
5 Mvs P2
(5) Moves with linear interpolation to P2.
6
Mvs , -100
*1) (6) Moves with linear interpolation from the current position (P2) to a position retracted
50mm in the hand direction.
7End
’ Ends the program.
Function Explanation page
Designate the movement speed. .............................................................. Page 103, "(5) Acceleration/deceleration time and speed
control"
Designate the acceleration/deceleration time. .........................................
Page 103, "(5) Acceleration/deceleration time and speed control"
Confirm that the target position is reached. ............................................. Page 105, "(6) Confirming that the target position is reached"
Continuously move to next position without stopping at target position.... Page 102, "(4) Continuous movement"
Move with joint interpolation...................................................................... Page 98, "(1) Joint interpolation movement"
Move while drawing a circle or arc. ........................................................... Page 100, "(3) Circular interpolation movement"
Add a movement command to the process............................................... Page 302, " Wth (With)"
Command word
Explanation
Mvr 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.
Mvr2 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.
Mvr3 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.
Mvc 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.

Mitsubishi Electric CR760-D Specifications

General

Brand	Mitsubishi Electric
Model	CR760-D
Category	Controller
Language	English