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(4) Continuous movement
The robot continuously moves to multiple movement positions without stopping at each movement position.
The start and end of the continuous movement are designated with the command statement. The speed can
be changed even during continuous movement.
*Command word
Command word
Cnt
*Statement example
Statement example
Cnt 1.................................................................................
CNT 1, 100, 200 ...............................................................
CNT 0 ...............................................................................
*Program example
Robot movement
Hand
The robot moves continuously for less than the smaller distance
of either the proximity distance when moving toward P6 (200 mm)
or the proximity distance to the starting point of the path to P1 (100 mm).
(1)
P1
(2)
P2
P3
P4
The robot moves continuously for less than the smaller distance of either
the proximity distance when moving toward P5 (default value) or the proximity
distance to the starting point of the path to P6 (200 mm).
•Program example
Program
1
Mov P1
2
Cnt 1
3
Mvr P2, P3, P4
4
Mvs P5
5
Cnt 1, 200, 100
6
Mvs P6
7
Mvs P1
8
Cnt 0
9
End
*Related functions
Designate the movement speed. ........................................................
Designate the acceleration/deceleration time. ...................................
Confirm that the target position is reached. .......................................
Move with joint interpolation................................................................
Move linearly. ......................................................................................
Move while drawing a circle or arc......................................................
Designates the start and end of the continuous movement.
Designates the start of the continuous movement.
Designates the start of the continuous movement, and designates that the start point
neighborhood distance is 100mm, and the end point neighborhood distance is 200mm.
Designates the end of the continuous movement.
(5)
(3)
Default value
Function
Explanation
:Robot movement
:Movement position
100mm
P6
(4)
P5
(1)
'
Moves with joint interpolation to P1.
' Validates continuous movement. (Following movement is continuous movement.)
(2)
'
Moves linearly to P2, and continuously moves to P4 with arc movement.
' After arc movement, moves linearly to P5.
(3)
'
Sets the continuous movement's start point neighborhood distance to 200mm,
and the end point neighborhood distance to 100mm.
(4)
'
After moving to previous P5, moves in succession linearly to P6.
(5)
'
Continuously moves to P1 with linear movement.
' Invalidates the continuous movement.
' Ends the program.
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 88, "(1) Joint interpolation movement"
Page 89, "(2) Linear interpolation movement"
Page 90, "(3) Circular interpolation movement"
Explanation
CAUTION
*1) Specification of forward/backward
movement of the hand
The statement examples and program
examples are for a vertical 6-axis robot
The hand advance/
(e.g., RV-6SD).
retrace direction relies on the Z axis
direction (+/- direction) of the tool
coordinate set for each model.
Refer to the tool coordinate system
shown in "Confirmation of move-
ment" in the separate "From Robot
unit setup to maintenance", and
designate the correct direction.
Explanation
Explanation page
MELFA-BASIC V functions 4-92
4MELFA-BASIC V
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