Saving In The Robot Controller - Mitsubishi Electric CR750-Q Instruction Manual

7.3.8 Saving in the robot controller

Save the robot program and spline file into the robot controller.
Refer to Page 648, "(9) Saving the spline file"
7.3.9 Adjustment work
Using the actual system, confirm the spline interpolation movement with debugging (step feed).
If the movement differs from the required movement, review and revise the path point data and robot pro-
gram. To revise the path point data, import the spline file into the RT ToolBox 2 Spline File Edit screen and
change the path point data setting values. Then, export the file to the controller.
The "position adjustment function", "frame transformation function", and "position jump function" provided in
the RT ToolBox2 for adjusting the position data, and the parameter SPLOPTGC (active gain control gain
compensation rate) are explained in this section.
(1) Position adjustment function
The same type of adjustment as the MELFA-BASIC V position data's relative calculation can be applied on
the path point data's robot position. The two compensation methods shown in
Table 7-19:Position adjustment method
Adjustment method
Vector sum operation
(P+P)
for details on saving the spline file.
The adjustment data value is added (addition of each coordinate element) in respect to the path point
data's robot position data. The adjustment goes along the world coordinate system.
The configuration flag, multi-rotation flag and additional axis data are not changed from the original
value.
PB
PC.Y
Yw
PA: Path point for adjustment target
PA：補正対象の経路点
PB: Adjustment results
PB：補正結果
PC: Adjustment data
PC：補正データ
Vector sum calculation (P+P)
ベクトル和演算（P+P）
Explanation
Xw
PC.X
PA
Table 7-19 can be used.
Spline interpolation Appendix-671
7Appendix