Linear Interpolation Movement - Mitsubishi Electric CR750-Q Instruction Manual

*Related functions
Designate the movement speed........................................................
Designate the acceleration/deceleration time. .................................
Confirm that the target position is reached. ......................................
Continuously move to next position without stopping at target posi-
tion.....................................................................................................
Move linearly. ...................................................................................
Move while drawing a circle or arc. ...................................................
Add a movement command to the process.......................................

(2) Linear interpolation movement

The end of the hand is moved with linear interpolation to the designated position.
*Command word
Command word
Mvs The robot moves to the designated position with linear interpolation. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated.
*Statement example
Statement example
Mvs P1 ................................................................
Mvs P1+P2..........................................................
Mvs P1*P2...........................................................
Mvs P1, -50 *1)....................................................
Mvs ,-50 *1) .........................................................
Mvs P1 Wth M_Out(17)=1...................................
Mvs P1 WthIf M_In(20)=1, Skip..........................
Mvs P1 Type 0, 0.................................................
Mvs P1 Type 9, 1.................................................
*Program example
Robot movement
(1)
(4)Turn output
(2)
signal bit 17 ON.
(3)
P1
Function
' Moves to P1
' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to
122.
' Moves to the position relatively converted from P1 to P2.
' Moves from P1 to a position retracted 50mm in the hand direction.
' Moves from the current position 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.
' Moves to P1 with equivalent rotation
' Moves to P1 with 3-axis orthogonal interpolation.
Hand
:Robot movement
:Movement position
(5)
Page 103, "(5) Acceleration/deceleration time and speed con-
trol"
Page 103, "(5) Acceleration/deceleration time and speed con-
trol"
Page 105, "(6) Confirming that the target position is reached"
Page 102, "(4) Continuous movement"
Page 99, "(2) Linear interpolation movement"
Page 100, "(3) Circular interpolation movement"
Page 302, " Wth (With)"
Explanation
Explanation
CAUTION
The statement examples and program exam-
ples are for a vertical 6-axis robot.The hand
advance/retrace direction relies on the Z axis
(6)
direction (+/- direction) of the tool coordinate
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
P2
designate the correct direction.
4MELFA-BASIC V
Explanation page
*1) Specification of for-
ward/backward move-
ment of the hand
MELFA-BASIC V functions 4-99
Page