Mitsubishi Electric CR750-Q Instruction Manual page 243

EMvr3 (E Move R 3)
[Function]
Carries out 3-dimensional circular arc interpolation movement along the work coordinates system from the
start point to the end point on the arc composed of the start point, end point, and center point.
(For the outline of the function, refer to
[Format]
EMvr3[]<Work Coordinates Number>, <Start Point>, <End Point>, <Center Point>
[[]Type[] <Constants 1>, <Constants 2>][[]<Appended Conditions>]
[Terminology]
<Work Coordinates Number>
<Start Point>
<End Point>
<Center Point>
<Constants 1>
<Constants 2>
<Appended Conditions>
[Reference Program]
1 EMvr3 1, P1, P2, P3
2 EMvr3 2, P1, J2, P3
3 EMvr3 2, P1, P2, P3 Wth M_Out(17)=1
4 EMvr3 4, P3, (Plt 1, 5), P4 WthIf M_In(20)=1, M_Out(21)=1
[Explanation]
(1) In circular arc interpolation motion, a circle is formed with three given points, and robot moves along the
circumference.
(2) The posture is interpolation from the start point to the end point; the center point posture has no effect.
(3) If the current position and start point do not match, the robot will automatically move with linear interpola-
tion (3-axis XYZ interpolation) to the start point.
(4) If paused during execution of a Mvr3 instruction and restarted after jog feed, the robot returns to the
interrupted position by JOINT interpolation and restarts the remaining circle interpolation.
The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted
position can be changed by the "RETPATH" parameter. (Refer to
ting after jog feed at
(5) If the start point and end point structure flags differ when equivalent rotation (constant 2 = 0) is specified,
an error will occur at the execution.
(6) If 3-axis XYZ is designated for the constant 2, the constant 1 will be invalidated, and the robot will move
with the taught posture.
(7) The central angle from the start point to the end point always satisfies 0 < central angle < 180 degrees.
(8) Designate the positions so that the difference from the center point to the end point and the center point
to the distance is within 0.01mm.
(9) If the three points are on the same line, or if the start point and center point, or end point and center point
are the same, an error will occur.
(10) If the start point and end point are the same or if three points are the same, an error will not occur, and
the next command will be executed. Note that if the posture changes at this time, only the posture will
be interpolated.
(11) This cannot be used in programs set to ALWAYS or ERROR. (The error L3287 will occur.)
(12) When the work coordinates system is not specified, the initial value is 0 (0, 0, 0, 0, 0, 0) for all elements.
If the Ex-T control linear interpolation is executed in this condition, the movement is performed along the
world coordinates system origin.
Page 677, "7.4 Ex-T
A work coordinates number which is chosen from 1 through 8.
Start point for the arc. Describe a position using a position type variable or
constant, logic/arithmetic expressions, functions, or a joint variable.
End point for the arc. Describe a position using a position type variable or
constant, logic/arithmetic expressions, functions, or a joint variable.
Center point for the arc. Describe a position using a position type variable
or constant, logic/arithmetic expressions, functions, or a joint variable.
Specify the posture rotation.
Short cut/detour = 0, The default value is 0.
Specify the posture interpolation method.
Equivalent rotation/3-axis XYZ = 0/1. The default value is 0.
The Wth and WthIf statements can be used.
pause")
control".)
Page 482, "5.10 Automatic return set-
Detailed explanation of command words 4-223
4MELFA-BASIC V