Mitsubishi Electric CR750-Q Instruction Manual page 245

EMvs (E Move S)
[Function]
Carries out linear interpolation movement along the work coordinates system (Ex-T coordinates system)
from the current position to the movement target position.
(For the outline of the function, refer to
[Format]
EMvs[]<Work Coordinates Number>, <Target Position> [[]Type[]<Constants 1>,
<Constants 2>][[]<Appended conditions>]
[Terminology]
<Work Coordinates Number>
<Target Position>
<Constants 1>
<Constants 2>
<Appended Conditions>
[Reference Program]
(1) Moves to the target position P1 along the work coordinate 1 by linear interpolation.
1 EMvs 1,P1
(2) Moves to the target position (Plt 1,5) along the work coordinate 3 by linear interpolation.
1 EMvs 3,(Plt 1,5)
(3) Moves to the target position P1 along the work coordinate 2 by linear interpolation, and simultaneously
turns on the output signal 17.
1 EMvs 2,P1 Wth M_Out(17)=1
(4) Turns on the output signal 20 if the input signal 18 is turned on during movement to the target position
P4 along the work coordinate 1 by linear interpolation.
1 EMvs 1,P4 WthIf M_In(18)=1, M_Out(20)=1
[Explanation]
(1) The EMvs command (Ex-T control linear interpolation) is for a type of movement in which the robot
moves from its current position to the movement target position along the specified work coordinates
system.
The figure shows an example of movement by the EMvs command. The example shows linear interpola-
tion along the Ex-T control point (Ex-T coordinates system origin) while the posture is changed.
(2) The posture interpolation is from the start point to the end point viewed from the work coordinates.
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. This position may be spec-
ified using a position type variable and constant, logic/arithmetic expressions,
functions, or a joint variable. (Input the position data of the robot control point.)
Specify the posture rotation.
Short cut = 0, The default value is 0.
Specify the posture interpolation method.
Equivalent rotation/3-axis XYZ = 0/1. The default value is 0.
The Wth and WthIf statements can be used.
control".)
Detailed explanation of command words 4-225
4MELFA-BASIC V