Mitsubishi MELFA CR1D - Page 228

4-215 Detailed explanation of command words
4MELFA-BASIC IV
Mva (Move Arch)
[Function]
This instruction moves the robot from the current position to the target position with an arch movement (arch
interpolation).
[Format].
[Terminology]
<Target Position> Final position of interpolation movement. This position may be specified using a
position type variable and constant, or a joint variable.
<Arch number> A number defined by the Def Arch instruction (1 to 4).
If the argument is omitted, 1 is set as the default value.
[Reference Program]
1 Def Arch 1,5,5,20,20 ' Defines the arch shape configuration.
2 Ovrd 100,20,20 ' Specifies override.
3 Accel 100,100,50,50,50,50 ' Specifies acceleration/deceleration rate.
2 Mva P1,1 ' Performs the arch motion movement according to the shape configura-
tion defined in step 1.
3 Mva P2,2 ' Moves the robot according to the default values registered in the
parameters.
Mva[]<Target Position> [, <Arch number>]