Mitsubishi MELFA CR1D Instruction Manual page 185

[Explanation]
(1) The interpolation (40 step to 80 step of the example) surrounded by Cnt 1 - Cnt 0 is set as the target of
continuous action.
(2) The system default value is Cnt 0 (Acceleration/deceleration movement).
(3) If values 1 and 2 are omitted, the connection with the next path segment is started from the time the
deceleration is started.
(4) As shown in Fig.
of the target position. After moving to the target position, the speed for moving to the next target position
starts to be accelerated. On the other hand, in the continuous operating mode, the speed is reduced in
front of the target position, but it does not stop completely. The speed for moving to the next target posi-
tion starts to be accelerated at that point. Therefore, it does not pass through each target position, but it
passes through the neighborhood position.
Acceleration/deceleration m ovem ent
P1
Start position of
m ovem ent
Continuous m ovem ent
P1
Start position of
m ovem ent
Fig.4-7:Acceleration/deceleration movement and continuous movement
(5) The neighborhood distance denotes the changing distance to the interpolation operation at the next tar-
get position. If this neighborhood distance (numerical value 1, numerical value 2) is omitted, the accel-
erate and deceleration starting position will be the changing position to the next interpolation. In this
case, it passes through a location away from the target position, but the operating time will be the short-
est. To pass through a location closer to the target position, set this neighborhood distance (numerical
value 1, numerical value 2).
If the MB and MC values
are different, connection
is m ade using a value
lower than the sm aller of
these two values.
P1
MB
Deceleration start
position
Fig.4-8:Setting Up the Neighborhood Distance
4-7, in the acceleration and deceleration operating mode, the speed is reduced in front
10 MOV P1
P2 20 MVS P2
30 MOV P3
It decelerates and accelerates to P1, P2
P3
and P3. After m oving to the target position,
it m oves to the next target position.
10 CNT 1
P2
20 MOV P1
30 MVS P2
40 MOV P3
P3
50 CNT 0
It passes through the neighborhood of P1
and P2, and then m oves to P3.
Acceleration end
position
MC
If the neighborhood
distance is not specified,
dotted line operation will
be perform ed.
10 CNT 1
20 MOV P1
30 MVS P2
40 MOV P3
50 CNT 0
v (Speed)
v (Speed)
*The above graph shown an exam ple.
Depending on the m oving distance and/or
speed, acceleration and deceleration m ay
occur during interpolation connection.
Deceleration start
MD
position
If the neighborhood distance
is specified, solid line
operation will be perform ed.
10 CNT 1, MA, MB
20 MOV P1
30 CNT 1, MC, MD
40 MVS P2
50 MOV P3
60 CNT 0
Detailed explanation of command words 4-172
4MELFA-BASIC IV
P1 P2 P3
t (Tim e)
P1
P2 P3
t (Tim e)
If the MB and MC values
P2
are different, connection
is m ade using a value
lower than the sm aller of
MC
these two values.
Acceleration end
position
P3
*If "30 CNT 1, MC, MD" are
not described, the value of
MC in the figure will be MA,
and the value of MD will be
MB.