Mitsubishi MELFA CR1D, Инструкция по эксплуатации

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4MELFA-BASIC V
MELFA-BASIC V functions
4-88
4.1.1 Robot operation control
(1) Joint interpolation movement
The robot moves with joint axis unit interpolation to the designated position. (The robot interpolates with a
joint axis unit, so the end path is irrelevant.)
*Command word
*Statement example
*Program example
•Program example
*Related functions
Command word Explanation
Mov The robot moves to the designated position with joint interpolation. It is possible to specify the
interpolation form using the TYPE instruction. An appended statement Wth or WthIf can be
designated
Statement example Explanation
Mov P1 ....................................................... ' Moves to P1.
Mov P1+P2................................................. ' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to Page 115 .
Mov P1*P2 ................................................. ' Moves to the position relatively converted from P1 to P2. Refer to Page 115 .
Mov P1,-50 *1) ........................................... ' Moves from P1 to a position retracted 50mm in the hand direction.
Mov P1 Wth M_Out(17)=1......................... ' Starts movement toward P1, and simultaneously turns output signal bit 17 ON.
Mov P1 WthIf M_In(20)=1, Skip ................ ' If the input signal bit 20 turns ON during movement to P1, the movement to P1 is stopped, and the
program proceeds to the next stop.
Mov P1 Type 1, 0 .......................................
(Default value: Long way around) ' Specify either roundabout (or shortcut) when the operation angle of each axis exceeds 180 deg..
Program Explanation
1 Mov P1 ’(1)
Moves to P1.
2
Mov P2, -50
*1) ’(2)
Moves from P2 to a position retracted 50mm in the hand direction.
3 Mov P2 ’(3)
Moves to P2
4 Mov P3, -100 Wth M_Out (17) = 1 ’(4)
Starts movement from P3 to a position retracted 100mm in the hand direction, and turns ON output
signal bit 17.
5 Mov P3
’(5)
Moves to P3
6
Mov P3, -100
*1) ’(6)
Returns from P3 to a position retracted 100mm in the hand direction.
7 End
’
Ends the program.
Function Explanation page
Designate the movement speed........................................................ Page 93, "(5) Acceleration/deceleration time and speed control"
Designate the acceleration/deceleration time. ................................. Page 93, "(5) Acceleration/deceleration time and speed control"
Confirm that the target position is reached. ...................................... Page 95, "(6) Confirming that the target position is reached"
Continuously move to next position without stopping at target posi-
tion.....................................................................................................
Page 92, "(4) Continuous movement"
Move linearly. ................................................................................... Page 89, "(2) Linear interpolation movement"
Move while drawing a circle or arc. ................................................... Page 90, "(3) Circular interpolation movement"
Add a movement command to the process....................................... Page 255, " Wth (With)"
(1)
(2)
P1
(3)
(4) Turn output
signal bit 17 ON.
(5)
(6)
5
0
m
m
10
0m
m
P2
P3
Hand
:Movement position
:Robot movement
*1) Specification of forward/
backward movement of the
hand
The statement examples and program examples
are for a vertical 6-axis robot (e.g.,
RV
-
6SD
).
The
hand advance/retrace direction relies on the
Z axis direction (+/- direction) of the tool coor-
dinate set for each model.
Refer to the tool coordinate system shown in
"Confirmation of movement" in the separate
"From Robot unit setup to maintenance", and
designate the correct direction.
CAUTION
Robot movement