Details Of Path Point Data - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
Tools
Note1) MXT file is a file that contains the dot sequence data and outputted by MELFA-Works.

(7) Details of path point data

The details of the path point data registered in the spline file are explained below.
Table 7-12:Details of path point data
Data item
Position
Arc designation
Tolerance Position
Posture
Status variable
Appendix-640 Spline interpolation
Menu item
Position
jump
Interpolation
settings
Ex-T control
settings
Position
adjustment
Frame trans-
formation
Motion range
check
Path point
check
Calculate
maximum
speed
Spline curve
Robot pro-
gram - Con-
vert to
program
Robot pro-
gram -
Import posi-
tion variables
Designate the path point position data with the Cartesian coordinate
system (Y, Z, A, B, C, L1, L2, FLG1, FLG2).
The distance unit is mm and the angle unit is deg.
Designate the path points for the arc path.
Setting range: Check (designation enabled), No check (designation
invalid)
Designate the tolerance for the position (path).
Setting range: 0 to 100 [%]
Designate the tolerance for the posture.
Setting range: 0 to 100 [%]
Designate the value referred to by status variable M_SplVar.
Setting range: –1 to 32767 (–1 means not set.)
Explanation
A dedicated screen for position jump function opens.
The spline file Interpolation Setting screen opens.
The spline file Ex-T control setting screen opens.
The dedicated screen for the position adjustment function
opens.
A dedicated screen for the frame transformation function
opens.
Checking whether the spline file being edited is within the oper-
ating range of the robot or not.
* This function can be executed in the simulations.
A dedicated screen for path point check function opens.
Calculates the maximum speed which can be specified without
an error in the spline interpolation commands using the spline
file being edited.
The spline curve registered in the spline file being edited is dis-
played.
Converts the spline file being edited to the robot program.
Imports the position data registered in the robot program to the
spline file being edited.
Details
Reference
page
675
646
647
671
673
665
664
665
664
666
667
Default value when
newly added
X to L2: 0.0
FLG1: Left, Below, Flip
FLG2: 0
No check
100
100
-1