Confirming That The Target Position Is Reached - Mitsubishi MELFA CR1D Instruction Manual

4MELFA-BASIC V

(6) Confirming that the target position is reached

The positioning finish conditions can be designated with as No. of pulses. (Fine instruction) This designation
is invalid when using continuous movement.
*Command word
Command word
Fine
Mov and Dly
*Statement example
Statement example
Fine100.............................................................................
Mov P1 .............................................................................
Dly 0.1 ..............................................................................
*Program example
Robot movement
(1)
P1
(2)
(5)
(3)
(4) Turns output signal bit 17 ON
at finish of positioning to P2.
P2
•Program example
Program
1 Cnt 0
2 Mvs P1
3 Mvs P2, -50 *1)
4 Fine 50
5 Mvs P2
6 M_Out(17)=1
7 Fine 1000
8 Mvs P3, -100 *1)
9 Mvs P3
10 Dly 0.1
11 M_Out(17)=0
12 Mvs , -100 *1)
13 End
*Related functions
Move with joint interpolation............................................................................
Move linearly. ..................................................................................................
Continuously move to next position without stopping at target position..........
4-95 MELFA-BASIC V functions
Designates the positioning finish conditions with a No. of pulses. Specify a small number of pulses
to allow more accurate positioning.
After the Mov movement command, command the Dly instruction (timer) to complete positioning .
Hand
(8)
(6)
(7) Turns output signal bit 17
OFF at finish of positioning to P3.
P3
' The Fine instruction is valid only when the Cnt instruction is OFF.
(1)
'
(2)
'
' Sets positioning finish pulse to 50.
(3)
'
(Mvs completes if the positioning complete pulse count is 50 or less.)
(4)
'
' Sets positioning finish pulse to 1000.
(5)
'
(6)
'
Performs the positioning by the timer.
'
(7)
'
(8)
'
' Ends the program.
Function
Explanation
Sets the positioning finish conditions to 100 pulses.
Moves with joint interpolation to P1. (The movement completes at the command value
level.)
Positioning after the movement instruction is performed by the timer.
CAUTION
:Robot movement
:Movement position
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
designate the correct direction.
Moves with joint interpolation to P1.
Moves with joint interpolation from P2 to position retracted 50mm in hand direction.
Moves with linear interpolation to P2
Turns output signal 17 ON when positioning finish pulse reaches 50 pulses.
Moves linearly from P3 to position retracted 100mm in hand direction.
Moves with linear interpolation to P3.
Turns output signal 17 off.
Moves linearly from current position (P3) to position retracted 100mm in hand direction.
Page 90, "(3) Circular interpolation movement"
Page 89, "(2) Linear interpolation movement"
Page 92, "(4) Continuous movement"
Explanation
*1) Specification of forward/
backward movement of the
hand
Explanation
Explanation page
The