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4MELFA-BASIC IV
Mva (Move Arch)
[Function]
This instruction moves the robot from the current position to the target position with an arch movement (arch
interpolation).
[Format].
Mva[]<Target Position> [, <Arch number>]
[Terminology]
<Target Position>
<Arch number>
[Reference Program]
1 Def Arch 1,5,5,20,20
2 Ovrd 100,20,20
3 Accel 100,100,50,50,50,50
2 Mva P1,1
3 Mva P2,2
4-215 Detailed explanation of command words
Final position of interpolation movement. This position may be specified using a
position type variable and constant, or a joint variable.
A number defined by the Def Arch instruction (1 to 4).
If the argument is omitted, 1 is set as the default value.
' Defines the arch shape configuration.
' Specifies override.
' Specifies acceleration/deceleration rate.
' Performs the arch motion movement according to the shape configura-
tion defined in step 1.
' Moves the robot according to the default values registered in the
parameters.
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