Check Related To Path Points - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
operation. The robot will return to the halted position with joint interpolation. The parameter RETPATH (set-
ting for automatic return after jog feed during halt) setting is not applied.
Jog operation
Spline interpolation
スプライン補間
Fig.7-12:Behavior during halt and resume
• After operation is halted during spline interpolation with a stop input, etc., if the halted robot program is
read into the teaching pendant or RT ToolBox2 program edit screen, the spline interpolation halt position
information will be reset. Thus, if operation is resumed from the halted line, the robot will move to the spline
interpolation start position before resuming operation.

(4) Check related to path points

The check listed in
Table 7-5:Check related to path points
Type
Distance between path points
Appendix-616 Spline interpolation
Resume
運転を再開
operation
ジョグ操作
Halt
運転を中断
operation
Table 7-5 is preformed on each path point.
The program is checked to confirm there is adequate distance between two adjacent path
points. The appropriate distance differs according to the designated speed, and if two path
points are too close for the speed, error L2611 (path points too close) will occur.
Refer to the following table and graph, and determine the command speed and distance
between path points.
Command speed
The command speed in the table can be obtained with the following formula.
Command speed = (<Speed> of MvSpl command) × (Ovrd command)
Joint interpolation
関節補間
Restart spline
中断位置からスプ
interpolation from
ライン補間を再開
halt position
Explanation
Required distance between path points
[mm/s]
10
20
50
100
200
500
33
30
27
24
21
18
15
12
9
6
3
0
0 50 100 150 200 250 300 350 400 450 500 550
Command speed [mm/s]
0.6 mm or more
1.2 mm or more
3.0 mm or more
6.0 mm or more
12.0 mm or more
30.0 mm or more