Mitsubishi Electric CR750-Q Instruction Manual page 124

4MELFA-BASIC V
Program example
Program
1 Ovrd 100
2 Mvs P1
3 Mvs P2, -50 *1)
4 Ovrd 50
5 Mvs P2
6 Spd 120
7 Ovrd 100
8 Accel 70, 70
9 Mvs P3
10 Spd M_NSpd
11 JOvrd 70
12 Accel
13 Mvs , -50 *1)
14 Mvs P1
15 End
*Related functions
Move with joint interpolation............................................................................
Move linearly. ..................................................................................................
Move while drawing a circle or arc. .................................................................
Continuously move to next position without stopping at target position..........
4-104 MELFA-BASIC V functions
' Sets the movement speed applied on the entire program to the maximum speed.
(1)
' Moves at maximum speed to P1.
(2)
' Moves at maximum speed from P2 to position retracted 50mm in hand direction.
' Sets the movement speed applied on the entire program to half of the maximum speed.
(3)
' Moves linearly to P2 with a speed half of the default speed.
' Sets the end speed to 120mm/s. (Since the override is 50%, it actually moves at 60 mm/s.)
' Sets the movement speed percentage to 100% to obtain the actual end speed of 120mm/s.
' Sets the acceleration and deceleration to 70% of the maximum speed.
(4)
' Moves linearly to P3 with the end speed 120mm/s.
' Returns the end speed to the default value.
' Sets the speed for joint interpolation to 70%.
' Returns both the acceleration and deceleration to the maximum speed.
(5)
' Moves linearly with the default speed for linear movement from the current position (P3) to a position
retracted 50mm in the hand direction.
(6)
' Moves to P1 at 70% of the maximum speed.
' Ends the program.
Function
Explanation
Explanation page
Page 98, "(1) Joint interpolation movement"
Page 99, "(2) Linear interpolation movement"
Page 100, "(3) Circular interpolation movement"
Page 102, "(4) Continuous movement"