Mitsubishi Electric CR750-Q Instruction Manual page 211

CAUTION
[Explanation]
(1) The interpolation (4 step to 8 step of the example) surrounded by Cnt 1 - Cnt 0 is set as the target of
continuous action.
(2) The system default value is Cnt 0 (Acceleration/deceleration movement).
(3) If values 1 and 2 are omitted, the connection with the next path segment is started from the time the
deceleration is started.
(4) As shown in Fig.
of the target position. After moving to the target position, the speed for moving to the next target position
starts to be accelerated. On the other hand, in the continuous operating mode, the speed is reduced in
front of the target position, but it does not stop completely. The speed for moving to the next target posi-
tion starts to be accelerated at that point. Therefore, it does not pass through each target position, but it
passes through the neighborhood position.
Acceleration/deceleration m ovem ent
P1
Start position of
m ovem ent
Continuous m ovem ent
P1
Start position of
m ovem ent
Fig.4-17:Acceleration/deceleration movement and continuous movement
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.
4-17, in the acceleration and deceleration operating mode, the speed is reduced in front
1 Mov p1
10 MOV P1
2 Mvs P2
P2
20 MVS P2
3 Mov P3
30 MOV P3
P3 It decelerates and accelerates to P1, P2
and P3. After m oving to the target position,
it m oves to the next target position.
1 Cnt 1
10 CNT 1
P2
2 Mov P1
20 MOV P1
3 Mvs P2
30 MVS P2
4 Mov P3
40 MOV P3
P3
5 Cnt 0
50 CNT 0
It passes through the neighborhood of P1
and P2, and then m oves to P3.
v (Speed)
P1
v (Speed)
P1
*The above graph shown an exam ple.
Depending on the m oving distance and/or
speed, acceleration and deceleration m ay
occur during interpolation connection.
Detailed explanation of command words 4-191
4MELFA-BASIC V
P2 P3
t (Tim e)
P2 P3
t (Tim e)