MC_MoveSpline
To move the robot by free curve interpolation.
| Graphic expression |
AOI category |
 |
Motion |
Input and Output Variable
| Variable name |
Data type |
Valid range |
Conditions for Input and Output |
| AxesGroup |
eRC_AxesGroup |
- |
- Robot group
- Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.
|
| ExtAxPosition |
eRC_Joint |
For input |
- Target position of extended-joint
- Specify the target position of extended-joint in Joint coordinate (Joint type). Unit is degree.
- For 4-axis robot: J5 to J8 are available.
For 6-axis robot: J7 to J8 are available.
For both 4-axis and 6-axis robots, if Joint settings of extended-joint is disabled, this variable is not available.
If the target value is entered in an element that does not exist in the controlled robot, the robot controller ignores the value.
For example, if any value is entered in variable "J5" to control a 6-axis robot, the robot controller controls the robot without using the value (variable J5).
|
| CoordSystem |
eRC_CoordSys |
- Tool : 0 to 63
- Work : 0 to 7
|
For input |
- Target position
- Specify the tool coordinate system and the work coordinate system used when making the robot motion with a coordinate number.
In addition to valid range values, -1 can be used.
When -1 is specified, the robot motions at the coordinate system currently set.
For example, if -1 is set to the variable "Tool", the robot motions at the tool coordinate system of the tool number currently set.
|
Input Variable
| Variable name |
Data type |
Valid range |
| Execute |
Boolean |
|
- Execution start
- When the variable is changed from FALSE to TRUE, this AOI is executed.
|
| RouteNo |
Integer |
1 to 20 |
- Path number
- Specify a path number.
|
| Velocity |
Real |
0.1 to 100.0 |
- Internal speed
- Specify the internal speed used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
-
-1 : The robot moves at the current internal speed.
0 : The minimum valid range value "0.1" is applied.
|
| Acceleration |
Real |
0.0001 to 100.0 |
- Internal acceleration
- Specify the internal acceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
-
-1 : The robot moves at the current internal acceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| Deceleration |
Real |
0.0001 to 100.0 |
- Internal deceleration
- Specify the internal deceleration used when moving to the target position. The unit is "%".
In addition to valid range values, -1 and 0 can be used.
-
-1 : The robot moves at the current internal deceleration.
0 : The minimum valid range value "0.0001" is applied.
|
| BufferMode |
Integer |
0, 1, 6, 7, 8, 9 |
- Buffer mode selection
- Specify how to connect motions when this AOI is executed when the robot is in motion.
The process flow of each buffer mode is as follows:
[0 : Aborting OP0]
- The robot decelerates at 100% deceleration.
- The robot stops (End motion)
- This AOI motion is executed.
[1 : Buffered]
- The robot moves to the current target position.
- The robot stops (Encoder value check motion (Axes coordinate system)).
- This AOI motion is executed.
[6 : Blending]
- The robot moves to the vicinity of the current target position.
- The robot executes the motion end method specified in the input variable "TransitionMode".
- This AOI motion is executed.
[7 : Aborting OP1]
- The robot decelerates at 100% deceleration.
- The robot does not stop (Pass motion).
- This AOI motion is executed.
[8 : Aborting OP2]
- The robot decelerates at the current deceleration.
- The robot stops (End motion).
- This AOI motion is executed.
[9 : Aborting OP3]
- The robot decelerates at the current deceleration.
- The robot does not stop (Pass motion).
- This AOI motion is executed.
|
| TransitionMode |
Integer |
0, 3, 10, 11 |
- Transition mode selection
- Specify how to end the current motion when "6 : Blending" is selected in the input variable "BufferMode". The end method for each value is as follows:
[0 : The robot stops (Encoder value check motion (Axes coordinate system))]
[3 : The robot does not stop (Pass motion of distance designation)]
- If 3 is selected, specify a distance to start the pass motion in the input variable "TransitionParameter".
- [10 : The robot does not stop (Pass motion)]
[11 : The robot stops (Encoder value check motion (Cartesian coordinate system))]
|
| TransitionParameter |
Integer |
0 to 32767 |
- Target position
- Specify a distance to start the pass motion when "3 : The robot does not stop (Pass motion of distance designation)" is selected in the input variable "TransitionMode". Unit is millimeter.
When the distance between the robot position and the current target position is below the value of this variable ("TransitionParameter"), the pass motion starts.
|
Output Variable
| Variable name |
Data type / Description |
| Done |
Boolean |
- Execution completion confirmation
- TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
|
| NextActionPermit |
Boolean |
- Next motion permission
- This variable indicates whether or not another AOI is allowed to be executed.
- TRUE : Execution allowed.
FALSE : Execution not allowed.
To connect this AOI motion to the next AOI motion, enter this variable ("NextActionPermit") in the input variable "Execute" of the next AOI.
|
| Busy |
Boolean |
- Processing status of this AOI
- TRUE : Being executed.
FALSE : Not being executed.
|
| Active |
Boolean |
- Robot control in progress
- This variable indicates whether or not this AOI is controlling the robot.
- TRUE : Controlling.
FALSE : Not controlling.
|
| CommandAborted |
Boolean |
- Robot control aborted
- This variable indicates whether or not this AOI was aborted while the robot was being controlled.
-
TRUE : Aborted.
FALSE : Not aborted.
|
| Error |
Boolean |
- Error presence
- TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
|
| ErrorID |
Integer |
- Error location
- 2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
|
| ErrorIDEx |
DInt |
- Error Code
- This is a number to identify the error description.
For details, refer to "Error code list".
|
Function Description
To perform free curve interpolation, specify the path number.
Multiple path points, or position data can be registered to a single path data set. Free curve interpolation uses the specified path data set to pass through each registered path point at a constant speed in the specified order to form a smooth curve.
Attention
To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".
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