Mitsubishi Electric CR760-D - Page 694

Appendix-674 Spline interpolation
7Appendix
Fig.7-107:Selecting from Path points list
If a controller is connected, the [Get current position] button will appear. When this button is clicked, the
robot's current position will be set to the selected transformed reference coordinate system.
■Executing frame transformation with RT ToolBox2
When the [Transform] button in Fig. 7-106 (B) is clicked after setting the coordinate system, frame transfor-
mation is applied on all path point data. The results are shown in Fig. 7-106 (C) "Transformation results list".
When frame transformation is executed, the [Exit to apply the transformation results] button in Fig. 7-106 (D)
is enabled.
Fig.7-108:[Exit to apply the transformation results] button
When this button is clicked, the transformation results will be applied on the path point data in the Spline File
Edit screen, and the Frame transformation will close.
When the [Cancel] button is clicked, the transformation results will be aborted and the Frame transformation
screen will close.
If the coordinate system settings are not correct (on same point or 3 points on the same line), the message
"Invalid the frame settings." will appear, and the frame transformation cannot be executed.
Fig.7-109:Dialog when coordinate system settings are not correct (when executing transformation)
■Saving coordinate system in spline file
When the Fig. 7-106 (D) [Exit to apply the settings] button is clicked after setting the coordinate system, the
position data that defines the coordinate system will be saved in the Spline File Edit screen, and the Frame
transformation screen will close.
If "1" is set for the MvSpl/EMvSpl command's argument <Frame transformation>, the coordinate system set
here will be used for frame transformation during spline interpolation.
When the [Cancel] button is clicked, the transformation results will be aborted and the Frame transformation
screen will close. (If the coordinate system has already been saved in the Spline File Edit screen, the details
will not be changed.)