Spline interpolation
Appendix-613
Fig.7-9:Spline interpolation terminology
7.3.2 Specifications
(1) Basic specifications
Table 7-3:Basic specifications
Start position
Refers to the path point where spline interpolation movement starts.
End position
Refers to the path point where spline interpolation movement ends.
Spline file
File containing the path points and setting values required for execution, etc. One file corresponds to
one spline interpolation.
Spline File Edit screen
RT ToolBox2 screen dedicated for creating, editing and saving spline file.
DXF File Import screen
Note1)
RT ToolBox2 screen dedicated for creating, editing and saving spline file from a DXF file.
Ex-T coordinate system
origin
This is the coordinate system origin that is the subject of arbitrarily defined control outside the robot.
Note1) Not supported with the RT ToolBox2 mini version.
Item
Specifications
Compatible robot
Vertical articulated (6-axis) robot, horizontal articulated (4-axis) robot
* Not supported with vertical articulated (5-axis) robot or user mechanism.
Compatible robot language
Spline interpolation commands, functions, and status variables have been added to MELFA-
BASIC V.
(MvSpl command, EMvSpl command, SetCalFrm command, SplPos function, SplSpd function,
SplECord function, status variables M_SplPno, M_SplVar)
* Not supported with MELFA-BASIC IV.
Moving method
The spline file is registered into the controller, and the spline interpolation command is executed.
The spline curve is generated to pass through the path points registered in the spline file. The
robot moves along this curve.
Spline file
No. of registered
files
Maximum 99 files
* The number of files that can actually be registered will depend on the file size and amount of
open storage area.
No. of registered
path points
Maximum 5000 points per file
* The file size is approx. 470 KB with 5000 points.
Create/edit/save
The RT ToolBox2 Spline File Edit screen is used to create, edit and save the file.
SplWrt command or SplFWrt command are used to create, edit and save the file.
Path point regis-
tration method
The path points are registered with the following operations on the RT ToolBox2 Spline File Edit
screen.
Teaching operation, import of MDI and CSV files, import of MXT files, import of DXF files,
robot program (SplWrt command)
Terminology
Explanation
経路点1
（開始位置）
経路点2
経路点3
経路点4
経路点5
経路点6
（終了位置）
ブロック 1
ブロック2
ブロック3
ブロック4
ブロック5
経路
Path point 1
(start position)
Path point 2
Block 1
Block 2
Path
Path point 3
Block 3
Path point 4
Block 4
Path point 5
Block 5
Path point 6
(end position)
