Mitsubishi Electric CR750-Q - Page 276

4-256 Detailed explanation of command words
4MELFA-BASIC V
Mvr2 (Move R 2)
[Function]
Carries out 3-dimensional circular interpolation motion from the start point to the end point on the arc com-
posed of the start point, end point, and reference points.
The direction of movement is in a direction that does not pass through the reference points.
[Format]
[Terminology]
<Start Point> Start point for the arc. Describe a position using a position type variable or constant,
or a joint variable.
<End Point> End point for the arc. Describe a position using a position type variable or constant,
or a joint variable.
<Reference point> Reference point for a circular arc. Describe a position using a position type variable
or constant, or a joint variable.
<Constants 1> Short cut/detour = 0/1, 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.
[Reference Program]
1 Mvr2 P1,P2,P3
2 Mvr2 P1,J2,P3
3 Mvr2 P1,P2,P3 Wth M_Out(17)=1
4 Mvr2 P3,(Plt 1,5),P4 WthIf M_In(20)=1,M_Out(21)=1
Mvr2[]<Start Point>, <End Point>, <Reference point>
[[]Type[]<Constants 1>, <Constants 2>][][<Appended Condition>]