YASKAWA DX100 - 7 System Diagnosis; 7.2 Manipulator Model

3 Teaching
3.2 Teaching Operation
3-7
155507-1CD
RE-CSO-A037
DX100
3.2.2.2 Linear Interpolation
The manipulator moves in a linear path from one taught step to the next.
When the linear interpolation is used to teach a robot axis, the move
instruction is MOVL. Linear interpolation is used for work such as
welding. The manipulator moves automatically changing the wrist position
as shown in the figure below.
<Play Speed Setting Window (same for circular and spline interpolation)>
• There are two types of displays, and they can be switched
depending on the application.
1. Move the cursor to the play speed.
2. Set the play speed by pressing [SHIFT] + the cursor key.
– The play speed value increases or decreases.
Fast 1500.0
750.0
375.0
187.0
93.0
46.0
23.0
Slow 11 (mm/s)
Fast 9000
4500
2250
1122
558
276
138
Slow 66 (cm/min)
90 of 554