Mitsubishi Electric CR750-Q Instruction Manual page 451

SplSpd
[Function]
Calculates the maximum speed which can be specified without an error in the spline interpolation com-
mands (MvSpl, EMvSpl).
[Format]
<Numeric Variable>=SplSpd(<Spline No.>)
[Terminology]
<Position Variable>
<Spline No.>
[Reference Program]
1 MS = SplSpd(8)
2 MvSpl 8,MS,50
[Explanation]
(1) Calculates the maximum speed which can be specified without an error from the path point data regis-
tered in the spline file specified by Spline No.
(2) The calculated maximum speed is the speed when the program override is 100%.
(3) If spline interpolation is executed using the calculated speed, a speed-over error may occur if the robot
posture changes greatly.
(4) 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 variables for a result to be substituted.
The number of the spline file holding information on the path to obtain
is designated with a constant or numerical variable.
Setting range: 1 to 99
' Substitutes the maximum speed that can be specified without an error
occurring when spline interpolation is executed using spline file 8 path
point data for MS.
' Executes spline interpolation to pass through the spline file 8 path
point at the speed specified with MS.
Detailed Explanation of Functions 4-431
4MELFA-BASIC V