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4-217 Detailed explanation of command words

4MELFA-BASIC IV

Mvc (Move C)

[Function]

Carries out 3D circular interpolation in the order of start point, transit point 1, transit point 2 and start point.

[Format]

[Terminology]

<Start point> The start point and end point for a circle. Describe a position operation expression or

joint operation expression.

<Transit point 1> Transit point 1 for a circular arc. Describe a position operation expression or joint oper-

ation expression.

<Transit point 2> Transit point 2 for a circular arc. Describe a position operation expression or joint oper-

ation expression.

<Additional condition> Describe a Wth conjunction or a WthIf conjunction

[Reference Program]

1 Mvc P1,P2,P3

2 Mvc P1,J2,P3

3 Mvc P1,P2,P3 Wth M_Out(17)=1

4 Mvc P3,(Plt 1,5),P4 WthIf M_In(20)=1,M_Out(21)=1

[Explanation]

(1) In circular interpolation motion, a circle is formed with the 3 given points, and the circumference is

moved. (360 degrees)

(2) The posture at the starting point is maintained during circle interpolation. The postures while passing

points 1 and 2 are not considered.

(3) If the current position and the starting position do not match, the robot automatically moves to the start-

ing point based on the linear interpolation (3-axis XYZ interpolation), and then performs the circle inter-

polation.

(4) If paused during execution of a Mvc instruction and restarted after jog feed, the robot returns to the

interrupted position by JOINT interpolation and restarts the remaining circle interpolation.

The interpolation method (JOINT interpolation / XYZ interpolation) which returns to the interrupted

position can be changed by the "RETPATH" parameter. (Refer to Page 369, "5.10 Automatic return set-

ting after jog feed at pause")

(5) This instruction cannot be used in a constantly executed program.

Fig.4-11:Example of circle interpolation motion path

Mvc[]<Start point>,<Transit point 1>,<Transit point 2>[][<Additional condition>]

P_CURR

MVC P1, P2, P3

Moves by XYZ

interpolation (3-axis

XYZ interpolation)

Mitsubishi MELFA CR1D User Manual

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