Mitsubishi Electric CR750-Q Instruction Manual page 316

4MELFA-BASIC V
SplWrt (Spline Write)
[Function]
Creates a spline file that includes information of the specified file.
Note) This command is supported with software version R6b or later (F-Q series) or S6b or later (F-D
series).
[Format]
SplWrt []<Spline No.>, <File name 1> [, <Operation mode> [, <Spline cancel angle>
[, <Block length ratio> [, <Ex-T coordinates number>[, <File version>]]]]]
[Terminology]
<Spline No.>
<File name>
<Operation mode>
<Spline cancel angle>
<Block length ratio>
<Ex-T coordinates number> The number of the work coordinate to be a control point.
<File version>
[Reference Program]
1 SplWrt 1,"01.csv"
2 SplWrt 2,"02.csv", 0, 120, 8, 1, 2
[Explanation]
(1) Creates a spline file specified by <Spline No.>.
(2) Registers the path point information registered in the file specified by <File name> to the spline file.
(3) Registers the mode specified by <Operation mode> to the spline file. When omitted, constant linear
speed mode is registered.
(4) Registers the angle specified by <Spline cancel angle> to the spline file. When omitted, 120 (degree) is
registered. Spline cancel does not function when 0 (degree) is set.
(5) Registers the ratio specified by <Block length ratio> to the spline file. When omitted, 8 (times) is regis-
tered. Block length ratio does not function when 0 (times) is set.
4-296 Detailed explanation of command words
The number of the spline file to create is designated.
Setting range: 1 to 99
The file name that includes the path point information to register is designated.
Describe with 16 characters or less.
The position data used as the origin for the +X axis in the pre-frame transformation
reference coordinate system is designated with a position variable or position con-
stant.
The operation mode (constant linear speed/variable linear speed) during the spline
interpolation is designated.
Setting range:
0: Constant linear speed mode
1: Variable linear speed mode
When omitted: Creates the spline file in constant linear speed mode.
The angle that cancels the spline interpolation is designated.
Setting range: 0 to 180 (degree)
When omitted: 120 (degree)
The block length ratio where the robot moves as a linear block instead of a spline
curve is designated.
Setting range: 0 to 100 (times)
When omitted: 8 times
Setting range: 0 to 8
When omitted: Ex-T spline function is invalid.
The version of the spline file to be created is designated.
Setting range: 1 to 2
When omitted: Create the spline file of version 2. (Creates the latest version of the
spline file corresponding to the controller.)
' Creates spline file 1 based on the path point information regis-
tered in "01.csv".
' Creates spline file 2 for the Ex-T spline based on both the path
point information registered in "02.csv" and the coordinate data
registered in the work coordinate number 1.