Restrictions - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
Item
Path Tolerance desig-
adjustment nation
Arc designation
Spline cancel
Block length ratio
Operation Constant linear
mode speed
Variable linear
speed
Signal output
Numerical setting

(2) Restrictions

Table 7-4:Restrictions
Item
Additional axis
Cnt command
Oadl command
MvTune command
FsGChg command
Tool/base changeover
Jrc command
Interpolation movement related
status variables
Interrupt process
Tracking function
Appendix-614 Spline interpolation
The degree of curve swelling can be designated in block units. Random blocks can be changed
from spline curves to linear paths.
Three consecutive points are designated as the path point to create an arc path instead of a
spline curve.
* Arc designation method is different depending on the version of the spline file.
The spline curve is split at a path point where change in moving direction is large.
If the segment length is larger than the specified ratio compared to the previous and next blocks,
that block is automatically handled as a linear block.
The interpolation command is generated so the robot moves uniformly at the designated speed.
If the speed may be exceeded during movement because the designated speed is large or the
change in posture is large, etc., the speed is automatically lowered.
A general-purpose signal can be output when passing through the path points.
A random value can be set for each path point, and that value referred to with the status variable.
Spline interpolation does not support additional axes. Even if coordinate values for the addi-
tional axis are set at each path point, the robot will not start from the start position coordinate
values during spline interpolation.
Even if the interpolation continuous movement is designated with the Cnt command, this does
not function for the spline interpolation start position and end position.
Even if optimum acceleration/deceleration control is enabled with the Oadl command, it does
not function for spline interpolation.
Operation mode designation with the MvTune command does not function for spline interpola-
tion.
Spline interpolation does not support the <Changeover start position> target designated with
the FsGChg command (designates control characteristics changeover for force sensor control).
The data cannot be switched between tool data and base data while spline interpolation execu-
tion is halted.
The Jrc command cannot be executed while the spline interpolation execution is halted.
The following status variables related to interpolation movement will not return the spline inter-
polation status.
Status variable
M_Acl
M_DAcl
M_Ratio
M_RDst
M_Spd
Even if "Stop type 1" is designated as the interrupt stop type, the same stopping as "Stop type
2" will take when interrupting during spline interpolation movement.
The tracking function and spline interpolation cannot be used simultaneously.
Specifications
Details of restrictions
Function
Returns the current acceleration time ratio.
Returns the current deceleration time ratio.
Returns the attainment ratio to the target position.
Returns the remaining distance to the target position.
Returns the currently set speed.