Mitsubishi Electric CR760-D - Page 19

Contents
vii
Page
6.5.1 Individual timing chart of each signal .............................................................................. 6-572
6.5.2 Timing chart example ..................................................................................................... 6-580
(1) External signal operation timing chart (Part 1) ............................................................. 6-580
(2) External signal operation timing chart (Part 2) ............................................................. 6-581
(3) Example of external operation timing chart (Part 3) ..................................................... 6-582
(4) Example of external operation timing chart (Part 4) ..................................................... 6-583
(5) Example of external operation timing chart (Part 5) ..................................................... 6-584
6.6 Emergency stop input ........................................................................................................... 6-585
6.6.1 Robot Behavior upon Emergency Stop Input ................................................................. 6-585
7 Appendix ........................................................................................................................ Appendix-586
7.1 Real-time external control function .......................................................................... Appendix-586
7.1.1 Explanation of communication data packet ....................................................... Appendix-588
7.1.2 Sample program ................................................................................................ Appendix-591
(1) Sample program of data link ........................................................................... Appendix-591
(2) Sample program for real-time external control function .................................. Appendix-597
7.2 Configuration flag ..................................................................................................... Appendix-608
7.3 Spline interpolation .................................................................................................. Appendix-611
7.3.1 Outline ............................................................................................................... Appendix-611
(1) Outline ............................................................................................................. Appendix-611
(2) Features .......................................................................................................... Appendix-611
(3) Required devices and software version .......................................................... Appendix-612
(4) Terminology ..................................................................................................... Appendix-612
7.3.2 Specifications ..................................................................................................... Appendix-613
(1) Basic specifications ......................................................................................... Appendix-613
(2) Restrictions ...................................................................................................... Appendix-614
(3) Robot behavior during spline interpolation ...................................................... Appendix-615
(4) Check related to path points ............................................................................ Appendix-616
7.3.3 Explanation of functions ..................................................................................... Appendix-618
(1) Path adjustment .............................................................................................. Appendix-618
(2) Operation mode ............................................................................................... Appendix-621
(3) Signal output ................................................................................................... Appendix-622
(4) Numerical setting ............................................................................................. Appendix-623
(5) Frame transformation ...................................................................................... Appendix-624
7.3.4 Work procedures ............................................................................................... Appendix-625
7.3.5 Creating the spline file ....................................................................................... Appendix-627
(1) New file ............................................................................................................ Appendix-627
(2) Creating a file by DXF File Import function ...................................................... Appendix-628
(3) Creating new spline files with robot language ................................................. Appendix-635
(4) Opening an existing spline file ......................................................................... Appendix-635
(5) Explanation of Spline File Edit screen ............................................................. Appendix-636
(6) Menu bar for Spline File Editing ...................................................................... Appendix-638
(7) Details of path point data ................................................................................. Appendix-640
(8) Editing the spline file ....................................................................................... Appendix-641
(9) Saving the spline file ....................................................................................... Appendix-648
(10) Deleting a spline file ...................................................................................... Appendix-650
(11) Changing the spline No. ................................................................................ Appendix-650
(12) Copying the spline file ................................................................................... Appendix-651
(13) Spline file manager ........................................................................................ Appendix-651
(14) Import/export function .................................................................................... Appendix-653
(15) Auxiliary editing functions .............................................................................. Appendix-662
(16) Displays the spline curve ............................................................................... Appendix-664
(17) Checking edited data ..................................................................................... Appendix-664
(18) Robot program .............................................................................................. Appendix-666
7.3.6 Creating the robot program ................................................................................ Appendix-668
7.3.7 Confirming the movement .................................................................................. Appendix-670
7.3.8 Saving in the robot controller ............................................................................. Appendix-671