CVMove Statement

Performs the continuous spline path motion defined by the Curve instruction.

Syntax
CVMove fileName [CP] [Till | Find] [SYNC]

Parameters

fileName

Specify the name of the file created by the Curve command and stored in the controller, as a string expression or as a direct string. You cannot specify a file path and fileName doesn’t have any effect from ChDisk. See ChDisk for the details.

CP

Optional. Specifies continuous path motion after the last point.

Till | Find

A Till or Find expression. This value is optional.

Till | Find
Till Sw(expr) = {On | Off}
Find Sw(expr) = {On | Off}

SYNC

Reserves a motion command. A robot will not move until the SyncRobots gives instructions.

Description
CVMove performs the continuous spline path motion defined by the data in the file fileName, which is located in the controller memory. The file must be previously created with the Curve command.

If the file name does not have an extension, .CVT is added automatically.

The user can change the speed and acceleration for the continuous path motion for CVMove by using the SpeedS and AccelS instructions.

If the point data is specified in a local coordinate system with the Curve instruction, the curve file is created based on the local coordinate system. If the local coordinate system is changed with the Local instruction after executing the Curve instruction, the CVMove instruction is offset to match the changed local coordinate system.

If the ECP mode is specified with the Curve instruction, the curve file is created based on the ECP coordinates. If the ECP coordinates are changed with the ECP instruction after executing the Curve instruction, the Curve instruction is offset to match the changed ECP coordinates.

If the current position when the CVMove instruction is run does not match the position of the first point specified in the curve file, PTP operation is performed in low-power mode up to the first point in the curve file. Before running the CVMove instruction, move the arm to the start point in the curve file.
The current position, including the orientation flag, must match. With a vertical 6-axis robot, the J6 joint may have rotated once even if it appears to be in the same position.

When executing CVMove, be careful that the robot doesn’t collide with peripheral equipment. When you attempt to change the hand orientation of the 6-axis robot (including N series) between adjacent points suddenly, due to the nature of cubic spline function, the 6-axis robot may start changing its orientation from the previous and following points and move in an unexpected trajectory. Verify the trajectory thoroughly prior to a CVMove execution and be careful that the robot doesn’t collide with peripheral equipment. If the orientation changes suddenly between points, specify the points more precisely to reduce the orientation changes between the points.

If an abnormal acceleration error occurs while executing CVMove, change the interpolation method to IM_NORMAL to create with the Curve instruction.

The CP parameter causes acceleration of the next motion command to start when the deceleration starts for the current motion command. In this case the robot will not stop at the destination coordinate and will continue to move to the next point.

CVMove Statement Example
The following program is an example using a SCARA robot. Create a curve file named mycurve.CVT. The robot traces a curve passing through P1 to P7. During operation, the output port turns on when passing P2.

Set up curve

> Curve "mycurve", O, 0, 4, IM_NORMAL, P1, P2, On 2, P(3:7)

Arm movement to P1 with the Jump instruction

> Jump P1

Move the arm according to the curve definition called mycurve

> CVMove "mycurve"

For the differences between closed and open curves and examples of whether tangential correction is enabled or disabled, refer to the Curve instruction section.

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