4MELFA-BASIC IV
Detailed explanation of command words
4-224
Mvs (Move S)
[Function]
Carries out linear interpolation movement from the current position to the movement target position.
[Format 1]
[Format 2]
[Terminology]
<Movement Target Position>
The final position for the linear interpolation. This position may be specified
using a position type variable and constant, or a joint variable.
<Close Distance>
If this value is designated, the actual movement target position will be a posi-
tion separated by the designated distance in the tool coordinate system Z
axis direction (+/- direction).
<Constants 1>
Short cut/detour = 1/0, The default value is 0.
<Constants 2>
Equivalent rotation/3-axis XYZ/singular point passage = 0/1/2.
The default value is 0.
<Appended conditions>
The Wth and WthIf statements can be used.
<Separation Distance>
When this value is designated, the axis will move the designated distance
from the current position to the Z axis direction (+/- direction) of the tool coor-
dinate system.
[Reference Program]
(1) Move to the target position P1 by XYZ interpolation.
1 Mvs P1
(2)Turns on the output signal 17 at the same time if it moves to the target position P1 by linear interpolation.
1 Mvs P1,100.0 Wth M_Out(17)=1
(3)Turns on output signal 20 if the input signal 18 is turned on while moving 50 mm in the Z direction of the
tool coordinate system of the target position P4+P5 (relative operation position obtained by addition) by
linear interpolation.
2 Mvs P4+P5, 50.0 WthIf M_In(18)=1, M_Out(20)=1
(4)Moves 50 mm in the Z direction of the tool coordinate system from the current position by linear interpolation.
3 Mvs ,50
Mvs[]<Movement Target Position> [, <Close Distance>]
[[]Type[]<Constants 1>,<Constants 2>][][<Appended Condition>]
Mvs[], <Separation Distance>
[[]Type[]<Constants 1>,<Constants 2>][][<Appended Condition>]
