LSIS XGT Series - Time Linear Interpolation Operation for Absolute Position of Coordinate System

Chapter 8 Motion Control Function
8-90
8.4.6 Time Linear Interpolation Operation for Absolute Position of Coordinate System
Use the related axes set in the axes group to perform interpolation control by moving the TCP from the current position to the target
position in the set time in a linear trajectory.
1. Perform linear interpolation from the start position to the target position (position designated by the positioning
data). Positioning control is based on the position designated at return to origin point.
2. Set Position[] to define the TCP target position.
Variable
Define
Unit
Position[0]
X Axis position
mm
Position[1]
Y Axis position
mm
Position[2]
Z Axis position
mm
Position[3]
X Axis rotation amount
degree
Position[4]
Y Axis rotation amount
degree
Position[5]
Z Axis rotation amount
degree
3. Depending on the robot type, some Position variable areas may not be applied. Data input in the unapplied areas is not
reflected in coordinate system operation.
Variable
Define
XYZ
Delta3
Position[0]
Applied
Applied
Position[1]
Applied
Applied
Position[2]
Applied
Applied
Position[3]
Not applied
Not applied
Position[4]
Not applied
Not applied
Position[5]
Not applied
Not applied
4. Perform linear interpolation to reach the target TCP in the time set in TrajTime.
5. TrajType input determines the type of acceleration/deceleration for reaching the interpolation trajectory. Three types of 0:
Trapezoid/Sine1/Sine2are available.
Trapezoid
Operation profile of basic trapezoidal linear acceleration/deceleration