Creation Of Robot Program - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix

7.4.4 Creation of robot program

(1) List of commands/variables related to the Ex-T control
The commands and variables of MELFA-BASIC V related to the Ex-T control are listed below.
For the command details, refer to the reference page shown in the table.
Table 7-22:List of commands related to the Ex-T control
Type of
No.
commands
1 Linear interpolation
2 Circular interpola-
tion
3 Circular arc inter-
polation
4
5
Table 7-23:List of variables related to the Ex-T control
No. Variable name
1 P_WkCord
(2) Programming example
Fix the tool and move
the workpiece.
Grinder
(fixed)
The example shows a program to perform the operation as shown in the figure.
The robot holds the workpiece, and moves the workpiece along the fixed processing tool. (Figures <1> to
<5>)
<1>
Work-
piece
Machining jig
Fig.7-117:Operation example 1
By overlaying the figures, the actual operation is shown as follows.
Appendix-690 Ex-T control
Added commands
EMvs (E Move S)
EMvc (E Move C)
EMvr (E Move R)
EMvr2 (E Move R 2)
EMvr3 (E Move R 3)
Outline of the function
Reading and setting of the work coordinates
Workpiece
(moving)
<2> <3>
Functions
Linear interpolation along the work coordinates (Ex-
T coordinates)
Circular interpolation along the work coordinates
(Ex-T coordinates)
Circular arc interpolation along the work coordi-
nates (Ex-T coordinates)
Supplementary explanation
Also used for the Ex-T coordinates
<4>
Reference
page
225
217
219
221
223
Reference
page
395
<5>