Mitsubishi Electric CR750-Q Instruction Manual page 273

Mvc (Move C)
[Function]
Carries out 3D circular interpolation in the order of start point, transit point 1, transit point 2 and start point.
[Format]
Mvc[]<Start point>,<Transit point 1>,<Transit point 2>[][<Additional condition>]
[Terminology]
<Start point>
<Transit point 1>
<Transit point 2>
<Additional condition> Describe a Wth conjunction or a WthIf conjunction
[Reference Program]
1 Mvc P1,P2,P3
2 Mvc P1,J2,P3
3 Mvc P1,P2,P3 Wth M_Out(17)=1
4 Mvc P3,(Plt 1,5),P4 WthIf M_In(20)=1,M_Out(21)=1
[Explanation]
(1) In circular interpolation motion, a circle is formed with the 3 given points, and the circumference is
moved. (360 degrees)
(2) The posture at the starting point is maintained during circle 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 linear interpolation (3-axis XYZ interpolation), and then performs the circle inter-
polation.
(4) If paused during execution of a Mvc instruction and restarted after jog feed, the robot returns to the
interrupted position by JOINT interpolation and restarts the remaining circle interpolation.
The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted
position can be changed by the "RETPATH" parameter. (Refer to
ting after jog feed at
(5) This instruction cannot be used in a constantly executed program.
MVC P1, P2, P3
P_CURR
Moves by XYZ
interpolation (3-axis
XYZ interpolation)
Fig.4-23:Example of circle interpolation motion path
The start point and end point for a circle. Describe a position using a position type variable
or constant, or a joint variable.
Transit point 1 for a circular arc. Describe a position operation expression or joint oper-
ation expression.
Transit point 2 for a circular arc. Describe a position operation expression or joint oper-
ation expression.
pause")
P2
P1
Page 482, "5.10 Automatic return set-
P3
Detailed explanation of command words 4-253
4MELFA-BASIC V