Mitsubishi Electric CR750-Q Instruction Manual page 237

EMvc (E Move C)
[Function]
Carries out 3-dimensional circular interpolation movement along the work coordinates system (Ex-T coordi-
nates system) in the order of start point, transit point 1, transit point 2, and start point.
(For the outline of the function, refer to
[Format]
EMvc[]<Work Coordinates Number>, <Start Point>, <Transit Point 1>, <Transit Point 2>
[[]<Appended Conditions>]
[Terminology]
<Work Coordinates Number>
<Start Point>
<Transit Point 1>
<Transit Point 2>
<Appended Conditions>
[Reference Program]
(1) Moves to the positions in the order of P1, P2, P3, and P1 along the work coordinate 1 by circular inter-
polation.
1 EMvc 1, P1, P2, P3
(2) Moves to the positions in the order of P1, J2, P3, and P1 along the work coordinate 2 by circular inter-
polation (when the joint variable is used).
2 EMvc 2, P1, J2, P3
(3) Moves to the positions in the order of P1, P2, P3, and P1 along the work coordinate 1 by circular inter-
polation, and simultaneously turns on the output signal 17.
3 EMvc 2, P1, P2, P3 Wth M_Out(17)=1
(4) Turns on the output signal 21 if the input signal 20 is turned on during movement to the positions in the
order of P3, (Plt 1, 5), P4, and P3 along the work coordinate 4 by circular interpolation.
4 EMvc 4, P3, (Plt 1, 5), P4 WthIf M_In(20)=1, M_Out(21)=1
[Explanation]
(1) In Ex-T control circular interpolation motion, a circle along the work coordinates is formed with the 3
given points, and the circumference is moved. (360 degrees)
(2) The posture at the start point is maintained during Ex-T circular interpolation. The postures while passing
points 1 and 2 are not considered.
(3) If the current position and the starting position do not match, the robot automatically moves to the start-
ing point based on the Ex-T control linear interpolation, and then performs the Ex-T control circular inter-
polation.
(4) If paused during execution of a EMvc command and restarted after jog feed, the robot returns to the
interrupted position and restarts the remaining circle interpolation. The interpolation method (JOINT
interpolation / XYZ interpolation) which returns to the interrupted position can be changed by the "RET-
PATH" parameter. (Refer to
(5) This cannot be used in programs set to ALWAYS or ERROR. (The error L3287 will occur.)
(6) 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.
(7) If any additional axis is provided, the additional axis also moves. However, the additional axis is not
included in the Ex-T control. Therefore, the robot position may be deviated from its original working posi-
tion when the robot arm is moved with the additional axis such as the travel axis and the work coordi-
nates is also moved along with the robot. Accordingly, operating an additional axis using this command is
not recommended. Also, do not perform synchronous control of additional axis while using this com-
mand.
Page 677, "7.4 Ex-T
A work coordinate number which is chosen from 1 through 8.
This is the final position for interpolation operation. Describe a position using
a position type variable or constant, logic/arithmetic expressions, functions,
or a joint variable.
Transit point 1 for a circular arc. Describe a position using a position type
variable or constant, logic/arithmetic expressions, functions, or a joint vari-
able.
Transit point 2 for a circular arc. Describe a position using a position type
variable or constant, logic/arithmetic expressions, functions, or a joint vari-
able.
The Wth and WthIf statements can be used.
Page 482, "5.10 Automatic return setting after jog feed at
control".)
Detailed explanation of command words 4-217
4MELFA-BASIC V
pause")