Mitsubishi Electric CR750-Q Instruction Manual page 270

4MELFA-BASIC V
Mov (Move)
[Function]
Using joint interpolation operation, moves from the current position to the destination position.
[Format]
Mov[]<Target Position> [, <Close Distance>] [[]Type[]<Constants 1>, <Constants 2>][]
[<Appended conditions>]
[Terminology]
<Movement Target Position>This is the final position for interpolation operation. This position may be specified
<Close Distance>
<Constants 1>
<Constants 2>
<Appended conditions>
[Reference Program]
1 Mov P1 Type 1,0
2 Mov J1
3 Mov (Plt 1,10),100.0 Wth M_Out(17)=1
4 Mov P4+P5,50.0 Type 0,0 WthIf M_In(18)=1,M_Out(20)=1
[Explanation]
(1) The joint angle differences of each axis are evenly interpolated at the starting point and endpoint posi-
tions. This means that the path of the tip cannot be guaranteed.
(2) By using the Wth and WthIf statement, the signal output timing and motion can be synchronized.
(3) The numeric constant 1 for the Type designates the posture interpolation amount.
(4) Detour refers to the operating exactly according to the teaching posture. Short cut operation may take
place depending on the teaching posture.
(5) Short cut operation refers to posture interpolation between the start point and end point in the direction
with less motion.
(6) The detour/short cut designation is significant when the posture axis has a motion range of (180 deg. or
more.
(7) Even if short cut is designated, if the target position is outside the motion range, the axis may move with
the detour in the reverse direction.
(8) The Type numeric constant 2 setting is insignificant for joint interpolation.
(9) This instruction cannot be used in a constantly executed program.
(10) If paused during execution of a Mov instruction and restarted after jog feed, the robot returns to the inter-
rupted position and restarts the Mov instruction. The interpolation method (JOINT interpolation / XYZ
interpolation) which returns to the interrupted position can be changed by the "RETPATH" parameter.
Moreover, it is also possible by changing the value of this RETPATH parameter to move to the direct target
position, without returning to the interrupted position. (Refer to
after jog feed at
4-250 Detailed explanation of command words
using a position type variable and constant, or a joint variable.
If this value is designated, the actual movement target position will be a position
separated by the designated distance in the tool coordinate system Z axis direc-
tion (+/- direction).
1/0: Detour/short cut. The default value is 1(detour).
Invalid (Specify 0).
The Wth and WthIF statements can be used.
pause")
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Fig.4-21:Example of joint interpolation motion path
Page 482, "5.10 Automatic return setting
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