Mitsubishi Electric CR750-Q - Page 211

4MELFA-BASIC V
Detailed explanation of command words 4-191
The robot's locus of movement may change with specified speed.
Especially as for the corner section, short cut distance may change. Therefore,
when beginning automatic operation, moves at low speed at first, and you should
gather speed slowly with being careful of interference with peripheral equipment.
[Explanation]
(1) The interpolation (4 step to 8 step of the example) surrounded by Cnt 1 - Cnt 0 is set as the target of
continuous action.
(2) The system default value is Cnt 0 (Acceleration/deceleration movement).
(3) If values 1 and 2 are omitted, the connection with the next path segment is started from the time the
deceleration is started.
(4) As shown in Fig. 4-17, in the acceleration and deceleration operating mode, the speed is reduced in front
of the target position. After moving to the target position, the speed for moving to the next target position
starts to be accelerated. On the other hand, in the continuous operating mode, the speed is reduced in
front of the target position, but it does not stop completely. The speed for moving to the next target posi-
tion starts to be accelerated at that point. Therefore, it does not pass through each target position, but it
passes through the neighborhood position.
Fig.4-17:Acceleration/deceleration movement and continuous movement
CAUTION
10 MOV P1
20 MVS P2
30 MOV P3
It decelerates and accelerates to P1, P2
and P3. After moving to the target position,
it moves to the next target position.
10 CNT 1
20 MOV P1
30 MVS P2
40 MOV P3
50 CNT 0
It passes through the neighborhood of P1
and P2, and then moves to P3.
P1
P2
P3
Start position of
movement
Acceleration/deceleration movement
P1 P2
P3
Continuous movement
P3
P2
t (Time)
P1
v (Speed)
P3P2
P1
*The above graph shown an example.
Depending on the moving distance and/or
speed, acceleration and deceleration may
occur during interpolation connection.
Start position of
movement
v (Speed)
t (Time)
1 Mov p1
2 Mvs P2
3 Mov P3
1 Cnt 1
2 Mov P1
3 Mvs P2
4 Mov P3
5 Cnt 0