Mitsubishi Electric CR750-Q Instruction Manual page 384

4MELFA-BASIC V
M_SplVar
[Function]
During spline interpolation, the numerical setting value set for the path point passed through most recently is
returned. This value can be changed to a random value by using writing.
Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series).
[Format]
Example) <Numeric Variable 1>=M_SplVar [(<Mechanism Number>)]
Example) M_SplVar [(<Mechanism Number>)]=<Numeric Variable 2>
[Terminology]
<Numeric Variable 1>
<Mechanism Number>
<Numeric Variable 2>
[Reference Program]
1 Wait M_00=1
2 *L1
3 Select M_SplVar
4 Case 1
5 M_SplVar=0
6 M_Out(100)=1
7 Break
8 Default
9 M_Out(100)=0
10 Break
11 End Select
12 If M_00=1 Then Goto *L1
[Explanation]
(1) During spline interpolation, the numerical setting value set for the path point passed through most
recently is returned. The numerical setting is designated in the spline file's path point data.
(2) By referring to M_SplVar value multi-task, the operation process or signal output process, etc., can be
executed according to the progress of spline interpolation. This differs from M_SplPro in that the same
value can be returned even if the path point is different. Thus, the program can be simplified if the same
output signal is repeatedly turned ON/OFF as shown in [Reference Program].
(3) M_SplVar returns an integer between 0 and 32767. If the numerical setting for the path point is set to "-1"
in the spline file, the M_SplVar value will not change even if that path point is passed through. The value
at the time of path point passage will be applied.
4-364 Detailed explanation of Robot Status Variable
Designates the numerical variable substituted for the reference results.
Sets the mechanism No. that executes spline interpolation.
Setting range: 1 to 3
When omitted: 1
If a non-existent mechanism No. is designated, the error L3870 (designated
mechanism No. invalid) will occur when execution is started.
Designates the value set in M_SplVar.
Setting range: 0 to 32767
If a value exceeding the range is set, the error L2615 (M_SplVar setting value
outside range) or error L3110 (argument value outside range) will occur when
execution is started.
' Wait for spline interpolation to start
' Pass through path point for which M_SplVar value is set to 1
' Reset M_SplVar value to 0
' Turn output signal 100 ON
' M_SplVar value is not 1
' Turn output signal 100 OFF
' Repeat until spline interpolation finishes