Mitsubishi Electric CR750-Q Instruction Manual page 121

*Statement example
Statement example
Mvr P1, P2, P3 .................................................................
Mvr P1, P2, P3 Wth M_Out (17) = 1................................
Mvr P1, P2, P3 WthIf M_In (20) = 1, Skip .......................
Mvr P1, P2, P3 TYPE 0, 1................................................
Mvr2 P1, P3, P11 .............................................................
Mvr3 P1, P3, P10 .............................................................
Mvc P1, P2, P3.................................................................
*Program example
Robot movement
P1
(1)
Turn output
signal bit
18 ON.
Program example
Program
1 Mvr P1, P2, P3 Wth M_Out(18) = 1
2 Mvr P3, P4, P5
3 Mvr2 P5, P7, P6
4 Mvr3 P7, P9, P8
5 Mvc P9, P10, P11
6 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 linearly. ..................................................................................................
Add a movement command to the process. ...................................................
' Moves with circular interpolation between P1 - P2 - P3.
' Circular interpolation between P1 - P2 - P3 starts, and the output signal bit 17 turns ON.
' If the input signal bit 20 turns ON during circular interpolation between P1 - P2 - P3,
circular interpolation to P1 is stopped, and the program proceeds to the next step.
' Moves with circular interpolation between P1 - P2 - P3.
' Circular interpolation is carried out from P1 to P3 in the direction that P11 is not passed.
P11 is the reference point.
' Moves with circular interpolation from P1 to P3 in the direction with the smallest fan
angle. P10 is the center point.
' Moves with circular movement from P1 - P2 - P3 - P1.
Hand
P4
(2)
P5
P3
P2
(1)
' Moves between P1 - P2 - P3 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point. (P1)
output signal bit 18 turns ON simultaneously with the start of circular movement.
(2)
' Moves between P3 - P4 - P5 as an arc.
(3)
' Moves as an arc over the circumference on which the start point (P5), reference point (P6) and
end point (P7) in the direction that the reference point is not passed between the start point and end
point.
(4)
' Moves as an arc from the start point to the end point along the circumference on which the
center point (P8), start point (P7) and end point (P9) are designated.
(5)
' Moves between P9 - P10 - P11 - P9 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point.(1
cycle operation)
' Ends the program.
Function
Explanation
P6
(Reference
point)
(3)
P8
P7
(Center point)
(4)
Explanation
Page 103, "(5) Acceleration/deceleration time and speed
control"
Page 103, "(5) Acceleration/deceleration time and speed
control"
Page 105, "(6) Confirming that the target position is reached"
Page 102, "(4) Continuous movement"
Page 98, "(1) Joint interpolation movement"
Page 99, "(2) Linear interpolation movement"
Page 302, " Wth (With)"
4MELFA-BASIC V
:Robot movement
:Movement position
P11
(5)
P10
P9
Explanation page
MELFA-BASIC V functions 4-101