Continuous Movement - Mitsubishi Electric CR750-Q Instruction Manual

4MELFA-BASIC V

(4) Continuous movement

The robot continuously moves to multiple movement positions without stopping at each movement position.
The start and end of the continuous movement are designated with the command statement. The speed can
be changed even during continuous movement.
*Command word
Command word
Cnt
*Statement example
Statement example
Cnt 1 .................................................................................
CNT 1, 100, 200 ...............................................................
CNT 0 ...............................................................................
*Program example
Robot movement
Hand
The robot moves continuously for less than the smaller distance
of either the proximity distance when moving toward P6 (200 mm)
or the proximity distance to the starting point of the path to P1 (100 mm).
(1)
P1
(2)
P2
P3
P4
The robot moves continuously for less than the smaller distance of either
the proximity distance when moving toward P5 (default value) or the proximity
distance to the starting point of the path to P6 (200 mm).
Program example
1 Mov P1
2 Cnt 1
3 Mvr P2, P3, P4
4 Mvs P5
5 Cnt 1, 200, 100
6 Mvs P6
7 Mvs P1
8 Cnt 0
9 End
*Related functions
Designate the movement speed. ........................................................
Designate the acceleration/deceleration time. ...................................
Confirm that the target position is reached. .......................................
Move with joint interpolation................................................................
Move linearly. ......................................................................................
Move while drawing a circle or arc. .....................................................
4-102 MELFA-BASIC V functions
Designates the start and end of the continuous movement.
(5)
(3)
Program
Function
Explanation
Designates the start of the continuous movement.
Designates the start of the continuous movement, and designates that the start point
neighborhood distance is 100mm, and the end point neighborhood distance is 200mm.
Designates the end of the continuous movement.
:Robot movement
:Movement position
100mm
P6
(4)
P5
Default value
(1)
' Moves with joint interpolation to P1.
' Validates continuous movement. (Following movement is continuous movement.)
(2)
' Moves linearly to P2, and continuously moves to P4 with arc movement.
' After arc movement, moves linearly to P5.
(3)
' Sets the continuous movement's start point neighborhood distance to 200mm,
and the end point neighborhood distance to 100mm.
(4)
' After moving to previous P5, moves in succession linearly to P6.
(5)
' Continuously moves to P1 with linear movement.
' Invalidates the continuous movement.
' Ends the program.
Page 103, "(5) Acceleration/deceleration time and speed control"
Page 103, "(5) Acceleration/deceleration time and speed control"
Page 105, "(6) Confirming that the target position is reached"
Page 98, "(1) Joint interpolation movement"
Page 99, "(2) Linear interpolation movement"
Page 100, "(3) Circular interpolation movement"
Explanation
CAUTION
*1) Specification of forward/backward move-
ment of the hand
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
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.
CAUTION
The robot's locus of movement may change
with specified speed.
Especially as for the corner section, short cut
distance may change. Therefore, when
beginning automatic operation, moves at low
speed at first, and you should gather speed
slowly with being careful of interference with
peripheral equipment.
Explanation
Explanation page