Mitsubishi MELFA CR1D User Manual

4-91 MELFA-BASIC V functions
4MELFA-BASIC V
•Program example
*Related functions
Program Explanation
1 Mvr P1, P2, P3 Wth M_Out(18) = 1
'
(1) Moves between P1 - P2 - P3 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point. (P1)
output signal bit 18 turns ON simultaneously with the start of circular movement.
2 Mvr P3, P4, P5
'
(2) Moves between P3 - P4 - P5 as an arc.
3 Mvr2 P5, P7, P6
'
(3) Moves as an arc over the circumference on which the start point (P5), reference point (P6) and
end point (P7) in the direction that the reference point is not passed between the start point and end
point.
4 Mvr3 P7, P9, P8
'
(4) Moves as an arc from the start point to the end point along the circumference on which the
center point (P8), start point (P7) and end point (P9) are designated.
5 Mvc P9, P10, P11
'
(5) Moves between P9 - P10 - P11 - P9 as an arc. The robot current position before movement is
separated from the start point, so first the robot will move with linear operation to the start point.(1
cycle operation)
6 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 linearly. .................................................................................................. Page 89, "(2) Linear interpolation movement"
Add a movement command to the process..................................................... Page 255, " Wth (With)"

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English