Mitsubishi Electric CR750 Series, Инструкция по эксплуатации

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4 MELFA-BASIC V
Detailed explanation of command words 4-261
[Explanation]
(1) Linear interpolation motion is a type of movement where the robot moves from its current position to the
movement target position so that the locus of the control points is in a straight line.
(2) The posture is interpolation from the start point to the end point.
(3) In the case of the tool coordinate system specified by using <proximity distance> or <separation dis-
tance>, the + and - directions of the Z axis vary depending on the robot model. Refer to Page 471, "5.6
Standard Tool Coordinates" for detail. The "Fig.4-27:Example of movement at linear interpolation" is an
example of movement.
Fig.4-27:Example of movement at linear interpolation
(4) Short cut operation refers to posture interpolation between the start point and end point in the direction
with less motion.
(5) Detour operation refers to posture interpolation between the start point and end point in the direction with
more motion.
(6) When detour/short cut is designated, if the target position is outside the motion range, the error of out-
side the motion range will occur.
(7) If paused during execution of a Mvs instruction and restarted after jog feed, the robot returns to the inter-
rupted position and restarts the Mvs instruction. This can be changed by the "RETPATH" parameter,
and also the interpolation method (JOINT interpolation / XYZ interpolation) which returns to the inter-
rupted position can be changed by same parameter. Some robots for liquid crystal transportation have
different default values of this parameter. Refer to
Page 482, "5.10 Automatic return setting after jog
feed at pause" .
(8) This instruction cannot be used in a constantly executed program.
(9) If the start point and end point structure flags differ when equivalent rotation (constant 2 = 0) is specified,
an error will occur at the execution.
(10) If 3-axis XYZ is designated for the numeric constant 2, the numeric constant 1 will be invalidated, and
the robot will move with the taught posture.
(11) Constant 2 designates the posture interpolation type. 3-axis XYZ is used when carrying out interpola-
tion on the (X, Y, Z, J4, J5, J6) coordinate system, and the robot is to move near a particular point. The
singular point passage function is supporting only certain models. Refer to
Page 509, "5.20 About sin-
gular point passage function" in details.
P_CURR
MVS ,-100
100mm
P_CURR
Ｐ１
MVS P1,-100
100mm
ＭＶＳ Ｐ１
Ｐ１
P_CURR