Detailed explanation of command words
4-263
MvSpl (Move Spline)
[Function]
Spline interpolation is executed based on the information registered in the designated spline file.
(Refer to
Page 611, "7.3 Spline interpolation"
for details on spline interpolation.)
Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series).
[Format]
[Terminology]
<Spline No.>
The number of the spline file holding information on the path to be
moved is designated with a constant or numerical variable.
Setting range: 1 to 99
<Speed>
The spline interpolation movement speed is designated with a con-
stant or numerical variable.
Setting range: Value larger than 0.0 (mm/s). Refer to [Explanation]
for details.
<Acceleration/deceleration distance>
The spline interpolation acceleration/deceleration distance is des-
ignated with a constant or numerical variable.
The acceleration distance is the distance required to accelerate from
the start or movement to the designated speed.
The deceleration distance is the distance required to decelerate from
the designated speed to the end position.
With spline interpolation, the acceleration distance and deceleration
distance are a common setting.
Setting range: Value larger than 0.0 (mm)
<Frame transformation>
The details for executing frame transformation are designated with
a constant or numerical variable.
Setting range:
0: Frame transformation is not executed.
1: Frame transformation is executed using coordinate system set
in spline file.
2: Frame transformation is executed using coordinate system set
with SetCalFrm command.
When omitted: Frame transformation is not executed.
<Posture interpolation type>
The posture interpolation type is designated with a constant or numer-
ical variable.
Setting range:
0 (equivalent rotation movement)/1 (3-axis orthogonal movement)
When omitted: Equivalent rotation movement
<Filter length>
The filter length applied on the acceleration/deceleration movement
is designated with a constant or numerical variable.
Setting range: 0.0 to 1000.0 (ms)
When omitted: 100.0 ms
[Reference Program]
1 Ovrd 70
' Set program override to 70%
2 Mov P1
' Move to position P1 with joint interpolation
3 MvSpl 2, 50, 10
' Execute spline interpolation that passes through spline file 2 path point
4 Mvs P2
' Move to position P2 with linear interpolation
5 MvSpl 2, 50, 10, 1 ' Pass through path point for which frame transformation has been executed on
spline file 2 path point
' Execute spline interpolation
MvSpl []<Spline No.>, <Speed>, <Acceleration/deceleration distance>
[, <Frame transformation> [, <Posture interpolation type> [, <Filter length>]]]
