Mitsubishi MELFA CR1D Instruction Manual page 229

[Explanation]
(1) The robot moves upward along the Z-axis direction from the current position, then moves to a position
above the target position, and finally moves downward, reaching the target position. This so-called arch
motion movement is performed with one instruction.
(2) If the Mva instruction is executed without the Def Arch instruction, the robot moves with the arch shape
configuration set in the parameters. Refer to
tion about the parameters.
(3) The interpolation form, type and other items are also defined by the Def Arch instruction; refer to
182, " Def Arch (Define
(4) This instruction cannot be used in a constantly executed program.
(5) If paused during execution of a Mva instruction and restarted after jog feed, the robot returns to the inter-
rupted position and restarts the Mva instruction. (this can be changed by the "RETPATH" parameter).
The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted posi-
tion can be changed by the "RETPATH" parameter. (Refer to
after jog feed at
DEF ARCH 1,5,5,20,20
20m m (Upward
retreat am ount)
*If Z is different between the m ovem ent starting position and the target position,
it will operate as follows:
DEF ARCH 1,5,5,20,20
20m m (Upward
retreat am ount)
Fig.4-10:Example of arch interpolation motion path (seen from the side)
[Related instructions]
Def Arch (Define arch),
arch)".
pause")
5m m (Upward
m oving am ount)
Start position
5m m (Upward
m oving am ount)
Start position
Accel (Accelerate),
Page 182, " Def Arch (Define arch)"
Page 369, "5.10 Automatic return setting
5m m (Downward
m oving am ount)
5m m (Downward
m oving am ount)
Ovrd (Override)
Detailed explanation of command words 4-216
4MELFA-BASIC IV
for a detailed descrip-
20m m (Downward
retreat am ount)
Target position
20m m (Downward
retreat am ount)
Target position
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