Appendix-640 Spline interpolation
7Appendix
(7) Details of path point data
The details of the path point data registered in the spline file are explained below.
Table 7-12:Details of path point data
Tools Position
jump
A dedicated screen for position jump function opens.
675
Interpolation
settings
The spline file Interpolation Setting screen opens. 646
Ex-T control
settings
The spline file Ex-T control setting screen opens. 647
Position
adjustment
The dedicated screen for the position adjustment function
opens.
671
Frame trans-
formation
A dedicated screen for the frame transformation function
opens.
673
Motion range
check
Checking whether the spline file being edited is within the oper-
ating range of the robot or not.
* This function can be executed in the simulations.
665
Path point
check
A dedicated screen for path point check function opens. 664
Calculate
maximum
speed
Calculates the maximum speed which can be specified without
an error in the spline interpolation commands using the spline
file being edited.
665
Spline curve The spline curve registered in the spline file being edited is dis-
played.
664
Robot pro-
gram - Con-
vert to
program
Converts the spline file being edited to the robot program. 666
Robot pro-
gram -
Import posi-
tion variables
Imports the position data registered in the robot program to the
spline file being edited.
667
Note1) MXT file is a file that contains the dot sequence data and outputted by MELFA-Works.
Data item Details
Default value when
newly added
Position Designate the path point position data with the Cartesian coordinate
system (Y, Z, A, B, C, L1, L2, FLG1, FLG2).
The distance unit is mm and the angle unit is deg.
X to L2: 0.0
FLG1: Left, Below, Flip
FLG2: 0
Arc designation Designate the path points for the arc path.
Setting range: Check (designation enabled), No check (designation
invalid)
No check
Tolerance Position Designate the tolerance for the position (path).
Setting range: 0 to 100 [%]
100
Posture Designate the tolerance for the posture.
Setting range: 0 to 100 [%]
100
Status variable Designate the value referred to by status variable M_SplVar.
Setting range: –1 to 32767 (–1 means not set.)
-1
Menu item Explanation
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