Mitsubishi Electric CR750-Q Instruction Manual page 685

7Appendix
By setting the speed and posture interpolation type specified with the MvSpl and EMvSpl commands and
then clicking the [Check] button, a check of each path point is performed. A completion dialog box appears if
successful. An error dialog box appears if an error occurs. Refer to the separate "Troubleshooting" manual
for error details.
* The path point check is performed at speed with override at 100%.
Fig.7-95:Path point check complete dialog (left)/Error dialog (right)
■Motion range check
Check whether the robot is able to move to each path point beforehand.
This function can only be used with the simulation function in RT ToolBox2 Ver. 3.40S or later.
By clicking [Tool] → [Motion range check] on the menu, the robot moves to each path point on the active
Spline editing screen. A completion dialog box appears if successful. An error dialog box appears if an error
occurs. Refer to the separate "Troubleshooting" manual for error details.
* The robot trajectory when performing the motion range check is not guaranteed.
Fig.7-96:Motion range check complete dialog (left)/Error dialog (right)
■Calculate maximum speed
Calculate the maximum speed at which the motion range check is possible from the distance between path
points without an error occurring when executing spline interpolation commands (MvSpl command, EMvSpl
command) beforehand.
To use this function, the RT ToolBox2 version 3.40S or later is required.
By clicking [Tool] → [Calculate maximum speed] on the menu, the maximum speed calculation result for the
active Spline editing screen appears.
Fig.7-97:Maximum speed calculation result
Spline interpolation Appendix-665