Creating The Robot Program - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
Fig.7-102:Import position variable

7.3.6 Creating the robot program

The robot program is created in the program edit screen of RT ToolBox2 or the teaching pendant.
To execute spline interpolation, use the commands and robot status variables listed in
7-18. Refer to sections
Detailed explanation of Robot Status
Table 7-16:Commands used with spline interpolation
Command word
MvSpl (Move Spline)
EMvSpl (E Move Spline)
SetCalFrm (Set Calibration Frame)
Table 7-17:Functions used with spline interpolation
Function name
SplPos
SplSpd
SplECord
Table 7-18:Robot status variables related to spline interpolation
Variable No. of array
name elements
M_SplPno Mechanism No.
(1 to 3)
M_SplVar Mechanism No.
(1 to 3)
Note1) R ......................................... Read-only.
RW ..................................... Read and write possible.
Appendix-668 Spline interpolation
Page 168, "4.13 Detailed explanation of command words"
Variable".
Executes spline interpolation.
Executes Ex-T spline interpolation.
Sets the coordinate system used with frame transformation.
Substitute the path point data registered in the specified spline file for the position variable.
Substitute the speed at which an L2611 (path point is too close) error does not occur when
executing the MvSpl/EMvSpl commands for the speed variable based on the specified spline
file path point data.
Substitute the Ex-T coordinate system origin data registered in the specified spline file for the
position variable.
The number of the path point passed through most
recently is returned.
The setting value of the most recent path point data is
returned.
The value can be rewritten.
Import
position
variable
Explanation
Explanation
Details
Table 7-16
and Page 311, "4.14
Attribute
Data type
Note1)
R Integer
RW Integer
and Table
Reference
page
263
227
289
Reference
page
430
431
429
Reference
page
363
364