Mitsubishi CRn-500 Series Instruction Manual page 49

The examples of the circular interpolation and circular pallet are described as follows.
[Example] Circular interpolation
In case of the circular interpolation, the additional axis and robot arm synchronously moves to draw
an arc. The applicable commands are shown in "Table 3.5.3 Applicable commands".
Language method
MELFA-BASIC IV
MOVEMASTER command DS, MC, MS, MTS, MR, MRA
If any circular interpolation is executed using MELFA-BASIC Ⅳ in the configuration (travel axis is 8th
axis) as shown in "Fig. 3.5.2-1 Example of circular interpolation",
10 P1 = (200, 500, 400, 0, 0, 0, 0, 1000) (7, 0)
20 P2 = (200, 300, 800, 0, 0, 0, 0, 800) (7, 0)
30 P3 = (200, 100, 400, 0, 0, 0, 0, 600) (7, 0)
40 MVR P1, P2, P3
50 END
Move in a semicircle with a radius of 400mm at the posture center of (200, 300, 400, 0, 0, 0, 0, 800).
If any circular interpolation is executed using the MOVEMASTER command in the configuration (travel
axis is 8th axis) as shown in "Fig. 3.5.2-1 Example of circular interpolation",
10 PD 1, 200, 500, 400, 0, 0, 0, 0, 1000, R, A, N, O
20 PD 2, 200, 300, 800, 0, 0, 0, 0, 800, R, A, N, O
30 PD 3, 200, 100, 400, 0, 0, 0, 0, 600, R, A, N, O
40 MR 1, 2, 3
50 END
Move in a semicircle with a radius of 400mm at the posture center of (200, 300, 400, 0, 0, 0, 0, 800).
7.Setting, Operation and Command Explanation of Robot Additional Axis
Table 7.5.3 Applicable commands
MVR, MVR2, MVR3, MVS (MVC is not applicable since
the start point and end point are the same.)
Travel axis + direction
Y + direction
Fig. 7.5.2 Example of circular interpolation
Applicable commands
X + direction
Robot (RV-20A)
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