Mitsubishi MELFA CR1D User Manual

4MELFA-BASIC IV
Detailed explanation of command words 4-222
Mvr3 (Move R 3)
[Function]
Carries out 3-dimensional circular interpolation movement from the start point to the end point on the arc
composed of the center point, start point and end point.
[Format]
[Terminology]
<Start Point> Start point for the arc. This position may be specified using a position type variable
and constant, or a joint variable.
<End Point> End point for the arc. This position may be specified using a position type variable
and constant, or a joint variable.
<Center Point> Center point for the arc. This position may be specified using a position type variable
and constant, or a joint variable.
<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 Mvr3 P1,P2,P3
2 Mvr3 P1,J2,P3
3 Mvr3 P1,P2,P3 Wth M_Out(17)=1
4 Mvr3 P3,(Plt 1,5),P4 WthIf M_In(20)=1,M_Out(21)=1
Mvr3[]<Start Point>, <End Point>, <Center Point>
[[]Type[]<Constants 1>ÅC<Constants 2>][] [<Appended Condition>]

Mitsubishi MELFA CR1D Specifications

General

Brand	Mitsubishi
Model	MELFA CR1D
Category	Controller
Language	English