Table of Contents
Advertisement
4MELFA-BASIC V
•Program example
Program
1
Mvr P1, P2, P3 Wth M_Out(18) = 1
2
Mvr P3, P4, P5
3
Mvr2 P5, P7, P6
4
Mvr3 P7, P9, P8
5
Mvc P9, P10, P11
6
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 position..........
Move with joint interpolation............................................................................
Move linearly. ..................................................................................................
Add a movement command to the process.....................................................
4-91 MELFA-BASIC V functions
(1)
'
Moves between P1 - P2 - P3 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point. (P1)
output signal bit 18 turns ON simultaneously with the start of circular movement.
(2)
'
Moves between P3 - P4 - P5 as an arc.
(3)
'
Moves as an arc over the circumference on which the start point (P5), reference point (P6) and
end point (P7) in the direction that the reference point is not passed between the start point and end
point.
(4)
'
Moves as an arc from the start point to the end point along the circumference on which the
center point (P8), start point (P7) and end point (P9) are designated.
(5)
'
Moves between P9 - P10 - P11 - P9 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point.(1
cycle operation)
' Ends the program.
Function
Explanation
Explanation page
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 88, "(1) Joint interpolation movement"
Page 89, "(2) Linear interpolation movement"
Page 255, " Wth (With)"
Advertisement
Table of Contents
