Mitsubishi Electric CR760-D User Manual

Appendix-612 Spline interpolation
7Appendix
• A file dedicated for spline interpolation (spline file) in which the path point data is registered is used sepa-
rately from the robot program. This file is created and edited in the RT ToolBox2 dedicated edit screen
(Spline File Edit screen), and written to the controller.
Fig.7-7:Creating dedicated file for path point data
• By creating an independently dedicated file, the spline interpolation can be shared by multiple robot pro-
grams, and the spline interpolation can be switched easily.
Fig.7-8:Features of dedicated file
• The swell of the spline curve can be partially compensated, and changed to a straight or arc path.
• In addition to the robot positions, output signals or random values can be registered as the path point data.
(3) Required devices and software version
RT ToolBox2 is required to use spline interpolation. Spline interpolation can be used with devices having the
software version shown in Table 7-1.
Table 7-1:Software versions compatible with spline interpolation
There is no designated software version for the teaching pendant (R32TB/R33TB/R56TB/R57TB).
(4) Terminology
The terminology used when explaining spline interpolation is shown in Table 7-2.
Table 7-2:Explanation of terminology
Device Function Controller RT ToolBox2
Compatible software
version
Spline interpolation F-Q series: Ver. R5 or later
F-D series: Ver. S5 or later
Ver. 3.10L or later
Ex-T spline interpolation F-Q series: Ver. R6b or later
F-D series: Ver. S6b or later
Ver. 3.40S or later
Terminology Explanation
Path point This is the robot position data (Cartesian coordinate value) used to generate the spline curve.
Block Refers to the curve line or segment generated between two adjacent path points.
Path Refers to the spline curve generated by the spline interpolation command and passes through path
points.
xx-xx
--xx-
-x--
書き込み
読み出し
RT ToolBox 2
スプラインファイル編集画面
コントローラ
スプラインファイル
Spline file
Controller
Write
Read
RT ToolBox2
Spline File Edit screen
1.PRG
Ovrd
MvSpl
1.PRG
Ovrd
MvSpl
2.PRG
Ovrd
MvSpl
3.PRG
Ovrd
MvSpl
ロボット
プログラム
スプライン
ファイル
01
xx-xx
--xx-
03
xx-xx
--xx-
02
xx-xx
--xx-
01
xx-xx
--xx-
複数のロボットプログラムで共用 スプライン補間の切り替え
ロボット
プログラム
スプライン
ファイル
Robot
program
Spline
file
Robot
program
Spline
file
Sharing by multiple robot programs Switching spline interpolation

Mitsubishi Electric CR760-D Specifications

General

Brand	Mitsubishi Electric
Model	CR760-D
Category	Controller
Language	English