Appendix-690 Ex-T control
7Appendix
7.4.4 Creation of robot program
(1) List of commands/variables related to the Ex-T control
The commands and variables of MELFA-BASIC V related to the Ex-T control are listed below.
For the command details, refer to the reference page shown in the table.
Table 7-22:List of commands related to the Ex-T control
Table 7-23:List of variables related to the Ex-T control
(2) Programming example
The example shows a program to perform the operation as shown in the figure.
The robot holds the workpiece, and moves the workpiece along the fixed processing tool. (Figures <1> to
<5>)
Fig.7-117:Operation example 1
By overlaying the figures, the actual operation is shown as follows.
No.
Type of
commands
Added commands Functions
Reference
page
1 Linear interpolation EMvs (E Move S) Linear interpolation along the work coordinates (Ex-
T coordinates)
225
2 Circular interpola-
tion
EMvc (E Move C)
Circular interpolation along the work coordinates
(Ex-T coordinates)
217
3 Circular arc inter-
polation
EMvr (E Move R)
Circular arc interpolation along the work coordi-
nates (Ex-T coordinates)
219
4
EMvr2 (E Move R 2)
221
5
EMvr3 (E Move R 3)
223
No. Variable name Outline of the function Supplementary explanation
Reference
page
1 P_WkCord Reading and setting of the work coordinates Also used for the Ex-T coordinates 395
Fix the tool and move
the workpiece.
Grinder
(fixed)
Workpiece
(moving)
<1> <2> <3> <4> <5>
Work-
piece
Machining jig
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