Creating New Spline Files With Robot Language - Mitsubishi Electric CR750-Q Instruction Manual

(3) Creating new spline files with robot language

■Creating new spline files with SplWrt command
Spline files can be created using the SplWrt (spline write) command at robot controllers with software ver-
sion R6b, S6b, or later. Refer to
Data shown in Table 7-15
An example can be seen in
Always indicate "Data identification tags" sequentially from <x> in the first line. If there are no "Data identifi-
cation tags", or if there is an insufficient number of data items (20) in each row, an error will occur.
■Editing existing spline files with SplFWrt command
Frame conversion coordinate data can be registered to spline files saved using the SplFWrt (spline frame
write) command at robot controllers with software version R6b, S6b, or later. Refer to
Write) for command details.
(4) Opening an existing spline file
■Opening a spline file saved in the personal computer
Select [Offline] → [Spline] for the target project and expand it. The saved spline files will appear in the proj-
ect tree, so double-click the spline file to be edited.
(The file can also be opened by selecting the spline file and clicking [Open] in the mouse context menu.)
Fig.7-43:Opening a spline file saved in the personal computer
■Opening a spline file saved in the controller
Select [Online] → [Spline] for the target project and expand it. The spline files saved in the controller will
appear in the project tree, so double-click the spline file to be edited.
(The file can also be opened by selecting the spline file and clicking [Open] in the mouse context menu.)
Fig.7-44:Opening a spline file saved in the controller
SplWrt (Spline Write)
is described sequentially separated by commas as path point data in read files.
Fig. 7-75.
for command details.
Spline interpolation Appendix-635
7Appendix
SplFWrt (Spline Frame