Robot Operation Control; Joint Interpolation Movement - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

4.1.1 Robot operation control

(1) Joint interpolation movement

The robot moves with joint axis unit interpolation to the designated position. (The robot interpolates with a
joint axis unit, so the end path is irrelevant.)
*Command word
Command word
Mov
*Statement example
Statement example
Mov P1 .......................................................
Mov P1+P2 .................................................
Mov P1*P2..................................................
Mov P1,-50 *1)............................................
Mov P1 Wth M_Out(17)=1.........................
Mov P1 WthIf M_In(20)=1, Skip.................
Mov P1 Type 1, 0 ........................................
(Default value: Long way around)
*Program example
Robot movement
(2)
(3)
P2
Program example
Program
1 Mov P1
2 *1)
Mov P2, -50
3 Mov P2
4 Mov P3, -100 Wth M_Out (17) = 1
5 Mov P3
6 *1)
Mov P3, -100
7 End
4-98 MELFA-BASIC V functions
The robot moves to the designated position with joint interpolation. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated
' Moves to P1.
' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to
' Moves to the position relatively converted from P1 to P2. Refer to
' Moves from P1 to a position retracted 50mm in the hand direction.
' Starts movement toward P1, and simultaneously turns output signal bit 17 ON.
' If the input signal bit 20 turns ON during movement to P1, the movement to P1 is stopped, and the
program proceeds to the next stop.
' Specify either roundabout (or shortcut) when the operation angle of each axis exceeds 180 deg..
Hand
(1)
P1
(5)
(4) Turn output
signal bit 17 ON.
'(1)
Moves to P1.
'(2)
Moves from P2 to a position retracted 50mm in the hand direction.
'(3)
Moves to P2
'(4)
Starts movement from P3 to a position retracted 100mm in the hand direction, and turns ON output
signal bit 17.
'(5)
Moves to P3
'(6)
Returns from P3 to a position retracted 100mm in the hand direction.
'
Ends the program.
Explanation
CAUTION
:Robot movement
:Movement position
The statement examples and program exam-
ples are for a vertical 6-axis robot.The hand
advance/retrace direction relies on the Z axis
direction (+/- direction) of the tool coordinate
(6)
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
P3
designate the correct direction.
Explanation
Page 122.
*1) Specification of for-
ward/backward move-
ment of the hand
Explanation
Page 122.