Mitsubishi Electric CR750-Q Instruction Manual page 646

7Appendix
No.
2 Creating the robot program
(Chapter "7.3.6")
3 Confirming the movement
(Chapter "7.3.7")
4 Saving to robot controller
(Chapter "7.3.8")
5 Adjustment work
(Chapter "7.3.9")
6 Operation
Note1) Not supported with the RT ToolBox2 mini version.
Create
Teach
Spline File
Edit screen
Generate
Spline file
Fig.7-24:Schematic diagram of work details
Appendix-626 Spline interpolation
Step
Create a robot program that contains the spline interpolation movement.
Confirm the spline interpolation movement with the simulation function
the path point position and robot program as needed.
Write the robot program and spline file to the robot controller.
Make fine adjustments to the actual system using the RT ToolBox2 Spline File Edit screen.
(1) Using debugging operations, confirm the spline interpolation movement in the actual
system.
(2) Read the spline file to the Spline File Edit screen.
(3) Correct the path point position and path adjustment setting as needed.
(4) Write the spline file to the controller.
(5) Repeat steps (1) to (4) to create the required path, and adjust the spline file data.
Run the robot program and execute spline interpolation.
Import
Confirm
Review
Robot Program
Write
Read
Write
Simulation
function
Adjust
Spline file
Spline File Edit screen
Work details
Confirm
Adjust
Note1)
, and correct
Actual system