4-89
MELFA-BASIC V functions
4MELFA-BASIC V
(2) Linear interpolation movement
The end of the hand is moved with linear interpolation to the designated position.
*Command word
*Statement example
*Program example
•Program example
*Related functions
Command word
Explanation
Mvs
The robot moves to the designated position with linear 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
Mvs P1.................................................................
' Moves to P1
Mvs P1+P2 ..........................................................
' Moves to the position obtained by adding the P1 and P2 coordinate elements. Refer to
.
Mvs P1*P2...........................................................
' Moves to the position relatively converted from P1 to P2.
Mvs P1, -50 *1)....................................................
' Moves from P1 to a position retracted 50mm in the hand direction.
Mvs ,-50 *1) .........................................................
' Moves from the current position to a position retracted 50mm in the hand direction.
Mvs P1 Wth M_Out(17)=1 ...................................
' Starts movement toward P1, and simultaneously turns output signal bit 17 ON.
Mvs 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.
Mvs P1 Type 0, 0.................................................
' Moves to P1 with equivalent rotation
Mvs P1 Type 9, 1.................................................
' Moves to P1 with 3-axis orthogonal interpolation.
Program
Explanation
1
Mvs P1, -50
*1)
'
(1)
Moves with linear interpolation from P1 to a position retracted 50mm in the hand
direction.
2
Mvs P1
'
(2)
Moves to P1 with linear interpolation.
3
Mvs ,-50
*1)
'
(3)
Moves with linear interpolation from the current position (P1) to a position retracted
50mm in the hand direction.
4
Mvs P2, -100 Wth M_Out(17)=1
*1)
(4) Output signal bit 17 is turned on at the same time as the robot starts moving.
5
Mvs P2
(5)
Moves with linear interpolation to P2.
6
Mvs , -100
*1)
(6)
Moves with linear interpolation from the current position (P2) to a position retracted
50mm 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 position. ...
Page 92, "(4) Continuous movement"
Move with joint interpolation......................................................................
Page 88, "(1) Joint interpolation movement"
Move while drawing a circle or arc. ...........................................................
Page 90, "(3) Circular interpolation movement"
Add a movement command to the process...............................................
*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
(1)
(2)
(3)
(4)Turn output
signal bit 17 ON.
(5)
(6)
5
0
m
m
100mm
P1
P2
Hand
:Movement position
:Robot movement
Robot movement
