Mitsubishi Electric CR750-Q Instruction Manual page 284

4MELFA-BASIC V
[Explanation]
(1) Spline interpolation is carried out based on the path point data, etc., registered in the spline file corre-
sponding to <Spline No.>. A smooth curve (spline curve) is generated to pass through the robot posi-
tion and posture that are registered as path points. The robot movement follows that curve.
(2) If the robot's current position at the start of MvSpl command execution and the spline interpolation start
position are deviated, the robot will move to the start position with linear interpolation and then start
spline interpolation.
(3) 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.
(4) The spline interpolation command speed is designated with the following expression.
Speed command = (MvSpl 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.
(5) The setting range of <speed> changes according to a distance between path points that registered into
the spline file. Refer to
(6) The spline interpolation acceleration/deceleration is designated with <Acceleration/deceleration dis-
tance>. The Accel command setting is not used. Even if the optimum acceleration/deceleration control
is enabled with the Oadl command, it will not be applied to spline interpolation.
(7) The acceleration movement generates speed to reach the <Speed> when the <Acceleration/ decelera-
tion distance> is moved from the spline interpolation start position. The deceleration movement gener-
ates 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>.
Speed
速度
Fig.4-29: Acceleration with <Acceleration/deceleration distance>
(8) 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 spline interpolation is executed to pass through
those path points.
(9) 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.
(10) 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.
(11) 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.
(12) 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.
(13) Transfer of the configuration flag (peculiar point transit) is not supported. If the configuration flag differs
between path points, error L2611 (Path point configuration flag is different) will occur.
4-264 Detailed explanation of command words
Page 616, "Table 7-5: Check related to path points"
<Acceleration/deceleration distance>
<加減速距離>
<Speed>
<速度>
Time
時間
for details.