Mitsubishi Electric CR750-Q Instruction Manual page 532

5Functions set with parameters
(3) Singular point passage function in position data confirmation (position jump)
The specification of parameter FSPJOGMD is also reflected in position data confirmation (position jump).
FSPJOGMD
0
(Factory setting)
1
CAUTION
(4) Singular point passage function in automatic operation
In order to use the singular point passage function in automatic operation, make the function valid in the
TYPE specification for each target interpolation instruction.
TYPE (Type)
[Function]
Specify the singular point passage function in the TYPE specification of an interpolation instruction. The
interpolation instructions that support this function are linear interpolation (Mvs), circular interpolation (Mvr,
Mvr2 and Mvr3).
[Format]
TYPE[]<Constant 1>, <Constant 2>
[Terminology]
<Constant 1>
<Constant 2>
[Reference Program]
1 Mvs P1 TYPE 0,2
2 Mvr P1,P2,P3 TYPE 0,2
[Explanation]
(1) A runtime error occurs if 2 is specified for constant 2 for robots that do not support the singular point pas-
sage function.
(2) The structure flag is not checked between the starting point and the end point if the singular point passage
function is specified. Moreover, since the structure flag of the target position cannot be identified, the move-
ment range is not checked for the target position and intermediate positions before the start of operation.
(3) If a speed is specified with the Spd instruction, the specified speed is set as the upper limit and the robot
automatically lowers the speed down to the level where a speed error does not occur near a singular point.
(4) The optimal acceleration/deceleration is not applied for interpolation instructions for which the singular
point passage function is specified; the robot operates with a fixed acceleration/deceleration. At this point, if
the acceleration time and the deceleration time are different due to the specification of the Accel instruction,
the longer time is used for both acceleration and deceleration.
(5) The specification of the Cnt instruction is not applied to interpolation instructions for which the singular
point passage function is specified; the robot operates with acceleration/deceleration enabled.
(6) If the current position and the starting point position are different when a circular interpolation instruction is
set to be executed, the robot continues to operate until the starting point using 3-axis XYZ linear interpola-
tion, even if the singular point passage function is specified in the TYPE specification.
5-512 About singular point passage function
MO position movement
The setting value does not affect.
The position moves in the joint mode.
If an interpolation instruction (e.g., Mvs P1) is executed directly from T/B when param-
eter FSPJOGMD is set to 1 (valid), the robot operates with the singular point passage
function enabled even if the function is not made valid by the TYPE specification.
0/1 : Short cut/detour
0/1/2 : Equivalent rotation/3-axis XYZ/singular point passage
' Perform linear interpolation from the current position to P1 with the sin-
gular point passage function enabled.
' Perform circular interpolation from P1 to P3 with the singular point pas-
sage function enabled.
MS position movement
Normal position movement
(The posture is maintained and the structure
flags are not switched.)
Singular point passage position movement