Required Devices And Software Version - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
• A file dedicated for spline interpolation (spline file) in which the path point data is registered is used sepa-
rately from the robot program. This file is created and edited in the RT ToolBox2 dedicated edit screen
(Spline File Edit screen), and written to the controller.
RT ToolBox2
RT ToolBox 2
Spline File Edit screen
スプラインファイル編集画面
Fig.7-7:Creating dedicated file for path point data
• By creating an independently dedicated file, the spline interpolation can be shared by multiple robot pro-
grams, and the spline interpolation can be switched easily.
Robot
ロボット
program
プログラム
1.PRG
Ovrd
MvSpl 2.PRG
Ovrd
3.PRG
MvSpl
Ovrd
MvSpl
Sharing by multiple robot programs
複数のロボットプログラムで共用
Fig.7-8:Features of dedicated file
• The swell of the spline curve can be partially compensated, and changed to a straight or arc path.
• In addition to the robot positions, output signals or random values can be registered as the path point data.

(3) Required devices and software version

RT ToolBox2 is required to use spline interpolation. Spline interpolation can be used with devices having the
software version shown in
Table 7-1:Software versions compatible with spline interpolation
Device
Compatible software
version
There is no designated software version for the teaching pendant (R32TB/R33TB/R56TB/R57TB).
(4) Terminology
The terminology used when explaining spline interpolation is shown in
Table 7-2:Explanation of terminology
Terminology
Path point
Block
Path
Appendix-612 Spline interpolation
Spline file
スプラインファイル
xx-xx
--xx-
-x--
Write
書き込み
Read
読み出し
Spline
スプライン
file
ファイル
01
xx-xx
--xx-
Table 7-1.
Function
Spline interpolation
Ex-T spline interpolation
This is the robot position data (Cartesian coordinate value) used to generate the spline curve.
Refers to the curve line or segment generated between two adjacent path points.
Refers to the spline curve generated by the spline interpolation command and passes through path
points.
Controller
コントローラ
Robot Spline
ロボット スプライン
program file
プログラム ファイル
03
1.PRG xx-xx
Ovrd 02 --xx-
MvSpl xx-xx
01
--xx-
xx-xx
--xx-
Switching spline interpolation
スプライン補間の切り替え
Controller
F-Q series: Ver. R5 or later
F-D series: Ver. S5 or later
F-Q series: Ver. R6b or later
F-D series: Ver. S6b or later
Explanation
RT ToolBox2
Ver. 3.10L or later
Ver. 3.40S or later
Table 7-2.