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4MELFA-BASIC V
(2) Linear interpolation movement
The end of the hand is moved with linear interpolation to the designated position.
*Command word
Command word
Mvs
*Statement example
Statement example
Mvs P1.................................................................
Mvs P1+P2 ..........................................................
Mvs P1*P2...........................................................
Mvs P1, -50 *1)....................................................
Mvs ,-50 *1) .........................................................
Mvs P1 Wth M_Out(17)=1 ...................................
Mvs P1 WthIf M_In(20)=1, Skip..........................
Mvs P1 Type 0, 0.................................................
Mvs P1 Type 9, 1.................................................
*Program example
Robot movement
(1)
(4)Turn output
(2)
(3)
P1
•Program example
Program
1
*1)
Mvs P1, -50
2
Mvs P1
3
*1)
Mvs ,-50
4
Mvs P2, -100 Wth M_Out(17)=1
5
Mvs P2
6
*1)
Mvs , -100
7
End
*Related functions
Designate the movement speed. ..............................................................
Designate the acceleration/deceleration time. .........................................
Confirm that the target position is reached. .............................................
Continuously move to next position without stopping at target position....
Move with joint interpolation......................................................................
Move while drawing a circle or arc. ...........................................................
Add a movement command to the process...............................................
4-89 MELFA-BASIC V functions
The robot moves to the designated position with linear interpolation. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated.
' Moves to P1
' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to
115.
' Moves to the position relatively converted from P1 to P2.
' Moves from P1 to a position retracted 50mm in the hand direction.
' Moves from the current position to a position retracted 50mm in the hand direction.
' Starts movement toward P1, and simultaneously turns output signal bit 17 ON.
' If the input signal bit 20 turns ON during movement to P1, the movement to P1 is stopped, and
the program proceeds to the next stop.
' Moves to P1 with equivalent rotation
' Moves to P1 with 3-axis orthogonal interpolation.
Hand
signal bit 17 ON.
*1)
Function
Explanation
:Robot movement
:Movement position
The statement examples and program examples
are for a vertical 6-axis robot (e.g., RV-6SD).
hand advance/retrace direction relies on the
(6)
Z axis direction (+/- direction) of the tool coor-
(5)
dinate 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
P2
designate the correct direction.
(1)
'
Moves with linear interpolation from P1 to a position retracted 50mm in the hand
direction.
(2)
'
Moves to P1 with linear interpolation.
(3)
'
Moves with linear interpolation from the current position (P1) to a position retracted
50mm in the hand direction.
(4) Output signal bit 17 is turned on at the same time as the robot starts moving.
(5)
Moves with linear interpolation to P2.
(6)
Moves with linear interpolation from the current position (P2) to a position retracted
50mm in the hand direction.
'
Ends the program.
Page 93, "(5) Acceleration/deceleration time and speed
control"
Page 93, "(5) Acceleration/deceleration time and speed control"
Page 95, "(6) Confirming that the target position is reached"
Page 92, "(4) Continuous movement"
Page 88, "(1) Joint interpolation movement"
Page 90, "(3) Circular interpolation movement"
Page 255, " Wth (With)"
Explanation
*1) Specification of forward/
CAUTION
backward movement of the
hand
Explanation
Explanation page
Page
The
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