Mitsubishi Electric CR750-Q Instruction Manual page 315

[The available robot type]
RH-3FHR series
[Related parameter]
SPDOPT
SplFWrt (Spline Frame Write)
[Function]
Register the frame transformation information to specified spline file.
Note) This command is supported with software version R6b or later (F-Q series) or S6b or later (F-D
series).
[Format]
SplFWrt []<Spline No.>, <Position 1>, <Position 2>, <Position 3>, <Position 4>, <Position 5>,
<Position 6>
[Terminology]
<Spline No.>
<Position 1>
<Position 2>
<Position 3>
<Position 4>
<Position 5>
<Position 6>
[Reference Program]
1 SplFWrt 1, PR1, PR2, PR3, PC1, PC2, PC3 ' Set the reference coordinate system used for frame
[Explanation]
(1) Registers the frame transformation information to the spline file specified by <Spline No.>.
(2) Position data for defining the two types of reference coordinate systems (pre-frame transformation and
post-frame transformation) used for frame transformation are set. Three position data items are
required to define one coordinate system.
(3) The X, Y and Z axis coordinate values of each position data are used to define the coordinate system.
Other element data such as the A, B and C axis coordinate values are not used.
(4) The coordinate system cannot be calculated if the same point is found in three position data items defin-
ing the coordinate system, or if the three position data items are arranged on the same line. In this
case, error L2041 (Can't calculate frame transformation coordinates) will occur.
(5) 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.
The number of the spline file to register the frame transformation information is designated.
Setting range: 1 to 99
The origin of reference coordinate system used for frame transformation is designated.
The position on the X axis of reference coordinate system used for frame transformation
is designated.
The position of the +Y direction point in the X-Y plane of the reference coordinate system
used for frame transformation is designated.
The origin after adjustment used for frame transformation is designated.
The position on the X axis after adjustment used for frame transformation is designated.
The position of the +Y direction point in the X-Y plane after adjustment used for frame
transformation is designated.
transformation and the coordinate system after adjust-
ment to the spline file 1.
Detailed explanation of command words 4-295
4MELFA-BASIC V