Confirming The Movement - Mitsubishi Electric CR750-Q Instruction Manual

7Appendix
Slot 2
Def IO PORT1=Byte, 100, &H03
M_SplVar=0
Wait M_00=1
*L1:If M_SplPno<3 Then GoTo *L1
*L2
Select M_SplVar
Case 1
PORT1=1
Break
Case 2
PORT1=2
Break
Default
PORT1=0
Break
End Select
If M_00=1 Then Goto *L2
End

7.3.7 Confirming the movement

Using the RT ToolBox2 simulation function, confirm the spline interpolation movement of the created robot
program. If the movement differs from the required movement, review and correct the path point data set-
tings and robot program.
Refer to the "RT ToolBox2/RT ToolBox2 mini Instruction Manual" for details on using the simulation function.
Note that the simulation function cannot be used with RT ToolBox2 mini.
Fig.7-104:Simulation function
Robot program and spline file used for simulation
When spline interpolation is simulated, the robot program and spline file must be registered into the vir-
tual controller in the RT ToolBox2. If the robot program and spline file are not registered into the [Online]
section of the project starting the simulation, copy them into the virtual controller with the following
method.
• Robot program: Use the RT ToolBox2 program control.
• Spline file:
Appendix-670 Spline interpolation
' Assign output signal 100 and 101 to variable PORT1
' Reset M_SplVar value to 0
' Wait for spline interpolation to start
' Wait for path point 3 to be passed
' Pass through path point for which numerical setting value is set
to 1
' Turn output signal 100 ON
' Pass through path point for which numerical setting value is set
to 2
' Turn output signal 101 ON
' Numerical setting value is not 1 or 2
' Turn output signal 100 and 101 OFF
' Repeat until spline interpolation is finished
Open the target file in the Spline File Edit screen, and save with the procedure give
on Page 648, "(9) Saving the spline file"
651, "(12) Copying the spline
or copy with the procedure gibe on
file".
Page