Mitsubishi MELFA CR1D - Page 231

4MELFA-BASIC IV
Detailed explanation of command words 4-218
Mvr (Move R)
[Function]
Carries out 3-dimensional circular interpolation movement from the start point to the end point via transit
points.
[Format]
[Terminology]
<Start Point> Start point for the arc. Describe a position operation expression or joint operation
expression.
<Transit Point> Transit point for the arc. Describe a position operation expression or joint operation
expression.
<End Point> End point for the arc. Describe a position operation expression or joint operation
expression.
<Constants 1> Short cut/detour = 1/0, 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 Mvr P1,P2,P3
2 Mvr P1,J2,P3
3 Mvr P1,P2,P3 Wth M_Out(17)=1
4 Mvr P3,(Plt 1,5),P4 WthIf M_In(20)=1,M_Out(21)=1
Mvr[]<Start Point>, <Transit Point>, <End Point>
[[]TYPE[]<Constants 1>, <Constants 2>][] [<Appended Condition>]