Spline interpolation
Appendix-623
An example of the signal output data set at the path point and the changes in the external output signal sta-
tus is shown in
.
Table 7-8:Example of signal output (all signals are OFF in default state)
If a dedicated output signal is assigned to the signal output designation, an error L0091 (signal already
assigned to dedicated output) will occur when the signal output is executed. Do not output a signal to a bit
having a dedicated output assignment.
The external output signal designated with signal output is not occupied. Note that if the target external out-
put signal is changed with another robot program using multi-task, those changes will be applied.
(4) Numerical setting
A random value can be set as the path point data.
Setting range: –1 to 32767 (integer)
* –1 indicates not set.
* The default value is –1.
When the status variable M_SplVar is referred to, the value set for the path point passed through most
recently can be confirmed. If the same value is set for multiple path points and referring to the status vari-
able M_SplVar with multi-task, a preset process can be executed when the specified path point is passed
through during spline interpolation.
When a non-set path point is passed, the status variable M_SplVar value will not change. The value held at
that time will be returned.
Output data
Designates the data to be signal output.
The setting range differs according to the bit width.
The default value is 0.
Pulse output
When pulse output is enabled, the above signal output designation is applied onto the external
output signal for approx. 14 ms after the path point is passed. The external output signal status
returns to the original status after approx. 14 ms has passed.
This is disabled as the default value.
Path
point
Head
No.
Bit width
Bit
mask
Output
data
Pulse
output
External output signal status [
●
: ON/
○
: OFF]
107
106
105
104
103
102
101
100
1
100
1
1
1
Invalid
○
○
○
○
○
○
○
●
2
102
1
1
1
Invalid
○
○
○
○
○
●
○
●
3
-1
1
0
0
Invalid
○
○
○
○
○
●
○
●
4
100
8
5C
FA
Invalid
○
●
○
●
●
○
○
●
5
100
8
FF
AF
Valid
●
●
●
●
●
●
●
●
Approx. 14 ms later
⇒
○
●
○
●
●
○
○
●
Setting item
Explanation
Bit width
Bit mask setting range [hex]
1
0, 1
8
0 to FF
16
0 to FFFF
32
0 to FFFFFFFF
Judgment of path point passage
Passage of the path point is judged by the position command level. It is not judged by the actual robot
position (feedback position).
