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•Program example
Program
1
Ovrd 100
2
Mvs P1
3
Mvs P2, -50 *1)
4
Ovrd 50
5
Mvs P2
6
Spd 120
7
Ovrd 100
8
Accel 70, 70
9
Mvs P3
10
Spd M_NSpd
11
JOvrd 70
12
Accel
13
Mvs , -50 *1)
14
Mvs P1
15
End
*Related functions
Move with joint interpolation............................................................................
Move linearly. ..................................................................................................
Move while drawing a circle or arc..................................................................
Continuously move to next position without stopping at target position..........
' Sets the movement speed applied on the entire program to the maximum speed.
(1)
'
Moves at maximum speed to P1.
(2)
'
Moves at maximum speed from P2 to position retracted 50mm in hand direction.
' Sets the movement speed applied on the entire program to half of the maximum speed.
(3)
'
Moves linearly to P2 with a speed half of the default speed.
' Sets the end speed to 120mm/s. (Since the override is 50%, it actually moves at 60 mm/s.)
' Sets the movement speed percentage to 100% to obtain the actual end speed of 120mm/s.
' Sets the acceleration and deceleration to 70% of the maximum speed.
(4)
'
Moves linearly to P3 with the end speed 120mm/s.
' Returns the end speed to the default value.
' Sets the speed for joint interpolation to 70%.
' Returns both the acceleration and deceleration to the maximum speed.
(5)
'
Moves linearly with the default speed for linear movement from the current position (P3) to a position
retracted 50mm in the hand direction.
(6)
'
Moves to P1 at 70% of the maximum speed.
' Ends the program.
Function
Explanation
Explanation page
Page 88, "(1) Joint interpolation movement"
Page 89, "(2) Linear interpolation movement"
Page 90, "(3) Circular interpolation movement"
Page 92, "(4) Continuous movement"
MELFA-BASIC V functions 4-94
4MELFA-BASIC V
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