Specifications - Mitsubishi Electric CR750-Q Instruction Manual

Terminology
Start position
End position
Spline file
Spline File Edit screen
DXF File Import screen
Note1)
Ex-T coordinate system
origin
Note1) Not supported with the RT ToolBox2 mini version.
Path point 2
経路点2
Block 1
ブロック 1
Path point 1
経路点1
(start position)
（開始位置）
Fig.7-9:Spline interpolation terminology

7.3.2 Specifications

(1) Basic specifications
Table 7-3:Basic specifications
Item
Compatible robot
Compatible robot language
Moving method
Spline file No. of registered
files
No. of registered
path points
Create/edit/save
Path point regis-
tration method
Refers to the path point where spline interpolation movement starts.
Refers to the path point where spline interpolation movement ends.
File containing the path points and setting values required for execution, etc. One file corresponds to
one spline interpolation.
RT ToolBox2 screen dedicated for creating, editing and saving spline file.
RT ToolBox2 screen dedicated for creating, editing and saving spline file from a DXF file.
This is the coordinate system origin that is the subject of arbitrarily defined control outside the robot.
Path
経路
Path point 3
経路点3
Block 2
ブロック2
Block 3
ブロック3
Path point 4
経路点4
Vertical articulated (6-axis) robot, horizontal articulated (4-axis) robot
* Not supported with vertical articulated (5-axis) robot or user mechanism.
Spline interpolation commands, functions, and status variables have been added to MELFA-
BASIC V.
(MvSpl command, EMvSpl command, SetCalFrm command, SplPos function, SplSpd function,
SplECord function, status variables M_SplPno, M_SplVar)
* Not supported with MELFA-BASIC IV .
The spline file is registered into the controller, and the spline interpolation command is executed.
The spline curve is generated to pass through the path points registered in the spline file. The
robot moves along this curve.
Maximum 99 files
* The number of files that can actually be registered will depend on the file size and amount of
open storage area.
Maximum 5000 points per file
* The file size is approx. 470 KB with 5000 points.
The RT ToolBox2 Spline File Edit screen is used to create, edit and save the file.
SplWrt command or SplFWrt command are used to create, edit and save the file.
The path points are registered with the following operations on the RT ToolBox2 Spline File Edit
screen.
Teaching operation, import of MDI and CSV files, import of MXT files, import of DXF files,
robot program (SplWrt command)
Explanation
Path point 6
経路点6
(end position)
（終了位置）
Block 5
ブロック5
Block 4
ブロック4
Path point 5
経路点5
Specifications
Spline interpolation Appendix-613
7Appendix