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4.1.1 Robot operation control
(1) Joint interpolation movement
The robot moves with joint axis unit interpolation to the designated position. (The robot interpolates with a
joint axis unit, so the end path is irrelevant.)
*Command word
Command word
Mov
The robot moves to the designated position with joint interpolation. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated
*Statement example
Statement example
Mov P1 .......................................................
Mov P1+P2.................................................
Mov P1*P2 .................................................
Mov P1,-50 *1) ...........................................
Mov P1 Wth M_Out(17)=1.........................
Mov P1 WthIf M_In(20)=1, Skip ................
Mov P1 Type 1, 0 .......................................
(Default value: Long way around)
*Program example
Robot movement
P1
(2)
(3)
P2
•Program example
Program
1
Mov P1
2
*1)
Mov P2, -50
3
Mov P2
4
Mov P3, -100 Wth M_Out (17) = 1
5
Mov P3
*1)
6
Mov P3, -100
7
End
*Related functions
Designate the movement speed........................................................
Designate the acceleration/deceleration time. .................................
Confirm that the target position is reached. ......................................
Continuously move to next position without stopping at target posi-
tion.....................................................................................................
Move linearly. ...................................................................................
Move while drawing a circle or arc. ...................................................
Add a movement command to the process.......................................
' Moves to P1.
' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to
' Moves to the position relatively converted from P1 to P2. Refer to
' Moves from P1 to a position retracted 50mm in the hand direction.
' Starts movement toward P1, and simultaneously turns output signal bit 17 ON.
' If the input signal bit 20 turns ON during movement to P1, the movement to P1 is stopped, and the
program proceeds to the next stop.
' Specify either roundabout (or shortcut) when the operation angle of each axis exceeds 180 deg..
Hand
:Robot movement
:Movement position
(1)
(6)
(5)
(4) Turn output
signal bit 17 ON.
'(1)
Moves to P1.
'(2)
Moves from P2 to a position retracted 50mm in the hand direction.
'(3)
Moves to P2
'(4)
Starts movement from P3 to a position retracted 100mm in the hand direction, and turns ON output
signal bit 17.
'(5)
Moves to P3
'(6)
Returns from P3 to a position retracted 100mm in the hand direction.
'
Ends the program.
Function
Explanation
Explanation
CAUTION
The statement examples and program examples
are for a vertical 6-axis robot (e.g., RV - 6SD ).
hand advance/retrace direction relies on the
Z axis direction (+/- direction) of the tool coor-
dinate set for each model.
Refer to the tool coordinate system shown in
"Confirmation of movement" in the separate
"From Robot unit setup to maintenance", and
P3
designate the correct direction.
Explanation
Page 93, "(5) Acceleration/deceleration time and speed control"
Page 93, "(5) Acceleration/deceleration time and speed control"
Page 95, "(6) Confirming that the target position is reached"
Page 92, "(4) Continuous movement"
Page 89, "(2) Linear interpolation movement"
Page 90, "(3) Circular interpolation movement"
Page 255, " Wth (With)"
4MELFA-BASIC V
Page
115.
*1) Specification of forward/
backward movement of the
hand
Explanation page
MELFA-BASIC V functions 4-88
Page
115.
The
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