Mitsubishi Electric CR750-Q Instruction Manual page 689

■Sample program
The path 1 path point data is registered in spline file 05. Spline interpolation is executed on path 1 and path
2 by using frame transformation. At this time, the path point data numerical settings are used by the slot 2
program to turn the output signal No. 100 and No. 101 signals ON and OFF during the movement.
Path 2
経路2
Output 100 ON
出力100 ON
+Y
Output 100 OFF
出力100 OFF
Output 101 ON
出力101 ON
Output 101 OFF
出力101 OFF
Fig.7-103:Movement of sample program
Slot 1
Ovrd 100
Mov P1
'
Fine 200
Spd 100
M_00=1
MvSpl 5, 50, 10
M_00=0
Fine 0
Mvs P1
'
PR1=(0, 0, 0, 0, 0, 0)(0, 0)
PR2=(20, 0, 0, 0, 0, 0)(0, 0)
PR3=(0, 20, 0, 0, 0, 0)(0, 0)
PC1=(0, 40, 0, 0, 0, 0)(0, 0)
PC2=(0, 60, 0, 0, 0, 0)(0, 0)
PC3=(-20, 40, 0, 0, 0, 0)(0, 0)
SetCalFrm PR1, PR2, PR3, PC1, PC2, PC3 ' Calculate and set coordinate system for frame transformation
'
Fine 200
M_00=1
MvSpl 5, 50, 10, 2
M_00=0
Fine 0
Mvs P1
End
Output 100
出力100
Output 101
出力101
OFF
ON
Output 101
出力101
OFF
2 0
0
-1
End position
終了位置
PC2 PC1
PR3
PC3
' Move to wait position (P1) with joint interpolation
' Change positioning pulse to 200
' Set linear interpolation speed to start position to 100mm/s
' Turn slot 2 synchronization flag ON
' Spline interpolate path 1 with acceleration/decelerate distance
50mm/s
' Turn synchronization flag OFF
' Disable positioning pulse designation
' Move to wait position with linear interpolation
' Set the reference coordinate system for frame transformation
(PR1 to PR3)
' Set the position of the transformed reference coordinate system
(PC1 to PC3)
' (90-degree turn around Z axis in respect to pre-transformation,
' coordinate system moved 40mm in Y axis direction)
' Execute frame transformation on spline No. 5 path point
' and spline interpolation path 2
+X
Numerical
数値設定値
Output 100 setting value
出力100
ON
Path 1
経路1
-1
1
-1
0
開始位置
1 -1
Path point 3
経路点3
PR2
PR1
Spline interpolation Appendix-669
7Appendix
Start position