Signal Output - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
The operation mode can be set individually for each spline interpolation. The default state is constant linear
speed.
If the speed will be exceeded during spline interpolation movement, try using "variable linear speed" if the
movement does not need to be performed at a constant speed.
Step feed
If the specified speed may be exceeded when executing spline interpolation with step feed, the move-
ment speed will drop even if the operation mode is "constant linear speed".

(3) Signal output

A random external output signal can be turned ON/OFF when passing through a path point. By using this
function, for example, a trigger signal can be output to a peripheral device when passing through a random
path point even without describing it in the robot program.
Signal to
装置Aへの
device A ON
Fig.7-20:Signal output
To use signal output, set the items in
Table 7-7:Signal output setting items
Setting item
Head No.
Bit width
Bit mask
Appendix-622 Spline interpolation
Spline interpolation
スプライン補間
信号ON
Signal to
装置Bへの
device B ON
信号ON
Path point
経路点
Table 7-7
Designate the head No. of the output signal.
Setting range: –1 to 32767
The default value is –1. The setting range is shown above, but the head No. that can actually
be output will depend on the type of connected device.
Designate the bit width of the signal to be output.
Setting range: 1, 8, 16, 32-bit
The default value is 1-bit.
Designate the mask pattern for enabling the signal output in bit units in respect to the desig-
nated bit width. The setting range changes according to the bit width.
Bit width
The bit with 1 bit mask applies the designated output data's ON/OFF status onto the signal out-
put.
The bit with 0 bit mask maintains the ON/OFF status of the external output signal at that point.
The default value is 0, so the bit mask must be set to output the signal.
Signal to
装置Aへの
device A OFF
信号OFF
(No signal output)
（信号出力なし）
as the path point data.
Explanation
* When –1 is set, this function will be disabled at that path point.
Bit mask setting range [hex]
1
8
16
32 0 to FFFFFFFF
0, 1
0 to FF
0 to FFFF