Appendix-622 Spline interpolation
7Appendix
The operation mode can be set individually for each spline interpolation. The default state is constant linear
speed.
If the speed will be exceeded during spline interpolation movement, try using "variable linear speed" if the
movement does not need to be performed at a constant speed.
(3) Signal output
A random external output signal can be turned ON/OFF when passing through a path point. By using this
function, for example, a trigger signal can be output to a peripheral device when passing through a random
path point even without describing it in the robot program.
Fig.7-20:Signal output
To use signal output, set the items in Table 7-7 as the path point data.
Table 7-7:Signal output setting items
Setting item Explanation
Head No. Designate the head No. of the output signal.
Setting range: –1 to 32767
* When –1 is set, this function will be disabled at that path point.
The default value is –1. The setting range is shown above, but the head No. that can actually
be output will depend on the type of connected device.
Bit width Designate the bit width of the signal to be output.
Setting range: 1, 8, 16, 32-bit
The default value is 1-bit.
Bit mask Designate the mask pattern for enabling the signal output in bit units in respect to the desig-
nated bit width. The setting range changes according to the bit width.
The bit with 1 bit mask applies the designated output data’s ON/OFF status onto the signal out-
put.
The bit with 0 bit mask maintains the ON/OFF status of the external output signal at that point.
The default value is 0, so the bit mask must be set to output the signal.
Step feed
If the specified speed may be exceeded when executing spline interpolation with step feed, the move-
ment speed will drop even if the operation mode is "constant linear speed".
装置Aへの
信号ON
装置Bへの
信号ON
（信号出力なし）
装置Aへの
信号OFF
スプライン補間
経路点
Signal to
device A ON
Path point
Spline interpolation
Signal to
device B ON
(No signal output)
Signal to
device A OFF
Bit width Bit mask setting range [hex]
1 0, 1
8 0 to FF
16 0 to FFFF
32 0 to FFFFFFFF
To Next Page
Loading...
Need help?
General
