Mitsubishi Electric CR750-Q Instruction Manual page 248

4MELFA-BASIC V
[Reference Program]
1 EMvSpl 0,2,20,10
2 EMvSpl 7,2,30,10
[Explanation]
(1) If 1 to 8 is specified for the <Ex-T coordinate No.>, spline interpolation along the coordinate system data
set in WK1CORD to WK8CORD is executed. If 0 is specified, spline interpolation along the Ex-T coor-
dinate system origin registered in the spline file is executed.
(2) If the coordinate system is not set in the spline file, the error L2610 (The setting of Ex-T is illegal) will
occur.
(3) Ex-T spline interpolation is carried out based on the path point data, etc., registered in the spline file cor-
responding to <Spline No.>.
(4) The Ex-T coordinate system origin viewed from the workpiece being grasped moves so that the curve is
smooth.
(5) If the robot's current position at the start of EMvSpl command execution and the Ex-T spline interpolation
start position are deviated, the robot will move to the start position with Ex-T linear interpolation (EMvs
command) and then start spline interpolation.
(6) If a spline file corresponding to the <Spline No.> is not saved in the controller, the error L2610 (Can't
open spline file) will occur.
(7) The Ex-T spline interpolation command speed (Ex-T coordinate system speed viewed from workpiece)
is specified with the following equation.
Speed command = (EMvSpl command's <Speed>) × (Ovrd command) × (operation panel override)
The Spd command and JOvrd command settings are not used. Even if the status variable M_NSpd is
set for <Speed>, the optimum speed control mode does not function.
(8) The Ex-T spline interpolation acceleration/deceleration is designated with <Acceleration/deceleration
distance>. The Accel command setting is not used. Even if the optimum acceleration/deceleration con-
trol is enabled with the Oadl command, it will not be applied to Ex-T spline interpolation.
(9) The acceleration movement generates speed to reach the <Speed> when the <Acceleration/ decelera-
tion distance> is moved from the Ex-T spline interpolation start position. The deceleration movement
generates the speed to move the <Acceleration/deceleration distance> from the <Speed> and stop at
the end position.
If the Ovrd command and operation panel's override is set to a value smaller than 100%, the com-
manded speed will be reached at a shorter travel rate than <Acceleration/deceleration distance>.
(The effect of filters, etc., can cause the acceleration/deceleration distance to be actually longer than
the value set with <Acceleration/deceleration distance>.
(10) If "1 (execute using coordinate system set in spline file)" or "2 (execute using coordinate system set
with SetCalFrm command) is designated in <Frame transformation>, the path point data is converted
sequentially based on the designated method, and Ex-T spline interpolation is executed to pass
through those path points.
(11) If the coordinate system is not set in the spline file even though "1 (execute using coordinate system set
in spline file)" is designated in <Frame transformation>, error L2042 (Frame transformation coordinates
are not set) will occur.
(12) If the coordinate system cannot be calculated when "1 (execute using coordinate system set in spline
file)" is designated in <Frame transformation>, error L2041 (Can't calculate frame transformation coor-
dinates) will occur.
(13) If "2 (execute using coordinate system set with SetCalFrm command)" is designated for <Frame trans-
formation>, frame conversion is executed using the coordinate system set with the SetCalFrm com-
mand executed last. If the SetCalFrm command has not been executed even once and the coordinate
system is not set, error L2042 (Frame transformation coordinates are not set) will occur.
(14) Switch between "0 (equivalent rotation movement)" and "1 (3-axis orthogonal movement)" by designat-
ing <Posture interpolation type>. The equivalent rotation movement operates so that the posture
change between the path points has the minimum angle.
The 3-axis orthogonal motion generates the posture data with the J4, J5 and J6 axis angles instead of
the A, B and C axis coordinate values. Thus, even if the path point posture data (A, B, C axis coordinate
values) are the same, the robot's posture will change during the movement.
4-228 Detailed explanation of command words
' Executes Ex-T spline interpolation to shift the spline curve generated with the
path point data set in spline file 2 along the Ex-T coordinate system origin regis-
tered in the spline file.
' Executes Ex-T spline interpolation to shift the spline curve generated with the
path point data set in spline file 2 along work coordinate 7.