Mitsubishi Electric CR750-Q Instruction Manual page 674

7Appendix
Data identification tag
<Tol2>
<Tol3>
<M_SplVar>
<OutPort>
<Bit>
<Mask>
<OutVal>
<Pulse>
An example of the CSV file is shown below.
<X>,<Y>,<Z>,<A>,<B>,<C>,<L1>,<L2>,<FL1>,<FL2>,<Info>,<Tol1>,<Tol2>,<Tol3>,<M_SplVar>,<OutPort>,<Bit>,<Mask>,<OutVal>,<Pulse>
300.00, 125.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 100, 100, 100,
250.00, 100.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 100, 100, 100,
250.00, 0.00, 325.00, 180.00, 15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, 10, 10100, 8, 5, ff, 1
300.00, -50.00, 325.00, 165.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, 100,
350.00, 0.00, 325.00, 180.00,-15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, -1,
300.00, 50.00, 325.00,-165.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100, -1,
250.00, 0.00, 325.00, 180.00, 15.00, 180.00, 0.00, 0.00, 7, 0, 1, 100, 100, 100,
250.00,-100.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 50, 100, 100, -1,
300.00,-125.00, 325.00, 180.00, 0.00, 180.00, 0.00, 0.00, 7, 0, 0, 50, 100, 100, -1,
Fig.7-75:Example of CSV file
In the first line, always describe the
imported if the "Data identification tag" is not described, or if the data on each line is insufficient (there
should be 20 data items).
■MXT file format
MXT files contain point sequence data output from MELFA-Works.
MXT files are created using the following procedure.
* Refer to the "MELFA-Works Instruction Manual (BFP-A8525)" for details on how to use MELFA-Works.
* The procedure differs in places between spline and Ex-T spline, and therefore caution is advised.
1) Starting MELFA-Works
Start MELFA-Works.
2) Grasping workpieces
* This is only required for Ex-T spline. For spline, perform the procedure in
Appendix-654 Spline interpolation
Designates the posture tolerance amount with an integer.
Setting range: 0 to 100 [%]
Not used. Describe as 100.
Designates the value referred to by status variable M_SplVar as an integer.
Setting range: –1 to 32767 (–1 means not set.)
Designates the head address of the output signal with an integer.
Setting range: –1 to 32767 (–1 means signal output invalid.)
Designates the bit width of the signal to be output.
Setting range: 1, 8, 16, 32 [bit]
Designates the mask pattern of the bit to enable the signal to be output with a hexadecimal.
Bit width Setting range [hex]
1
8
16
32
Designates the data to be signal output with a hexadecimal.
Bit width Setting range [hex]
1
8
16
32
Designates the pulse output.
Setting range: Designated (1), Not designated (0)
Table 7-15 "Data identification tag" in order from <X>. The file cannot be
Details
0, 1
0 to FF
0 to FFFF
0 to FFFFFFFF
0, 1
0 to FF
0 to FFFF
0 to FFFFFFFF
0, 10100, 8, a, ff, 0
1, -1, 1, 0, 0, 0
-1, 1, 0, 0, 0
-1, 1, 0, 0, 0
-1, 1, 0, 0, 0
0, 10100, 8, ff, 0, 0
-1, 1, 0, 0, 0
-1, 1, 0, 0, 0
"4)Creating paths".