Mitsubishi Electric CR750-Q Instruction Manual page 383
Cr750/cr751/cr760 series
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M_SplPno
[Function]
During spline interpolation, the number of the path point passed through most recently is returned.
The spline interpolation start position is 1.
Note) This command is supported with software version R5 or later (F-Q series) or S5 or later (F-D series).
[Format]
Example) <Numeric Variable>=M_SplPno [(<Mechanism Number>)]
[Terminology]
<Numeric Variable>
<Mechanism Number>
[Reference Program]
1 Wait M_00=1
2 *L1:If M_SplPno < 5 Then GoTo *L1
3 M1=M_Inw(100)
4 *L2:If M_SplPno < 10 Then GoTo *L2
5 M_01=M1
[Explanation]
(1) During spline interpolation, the number of the path point passed through most recently is returned.
(2) By referring to the M_SplPno value with multi-task, the operation process or signal output, etc., can be
executed according to the progress of spline interpolation.
(3) M_SplPno returns the value indicated in the following table according to the state.
Table 4-32:Value returned by M_SplPno
Immediately after power ON
During spline interpolation execution
After spline interpolation
Immediately after main program's End
command is executed
Immediately after program reset operation
Mechanism not compatible with spline
interpolation
(4) M_SplPno is a read-only status variable.
Designates the numerical variable substituted for the reference results.
Sets the mechanism No. that executes spline interpolation.
Setting range: 1 to 3
When omitted: 1
If a non-existent mechanism No. is designated, the error L3870 (designated
mechanism No. invalid) will occur when execution is started.
Status
0
1 to (value corresponding to progress of spline
interpolation)
Path point No. for end position of spline interpola-
tion
0
0
0
' Wait for spline interpolation to start
' Wait for path point 5 to be passed
' After passing through path point 5, get input signal 100 to 115
status
' Wait for path point 10 to be passed
' After passing through path point 10, substitute M1 details in
M_01
Value returned by M_SplPno
Detailed explanation of Robot Status Variable 4-363
4MELFA-BASIC V
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