YASKAWA DX100 Operator's Manual

3 Teaching
3.2 Teaching Operation
3-9
155507-1CD
RE-CSO-A037
DX100
Alternatively, to continue movements without adding an extra joint or linear
interpolation step in between, add “FPT” tag to the step whose curvature
is needed to be changed.
<Play Speed>
• The play speed set display is identical to that for the linear
interpolation.
• The speed taught at P2 is applied from P1 to P2. The speed taught
at P3 is applied from P2 to P3.
• If a circular operation is taught at high speed, the actual arc path has
a shorter radius than that taught.
3.2.2.4 Spline Interpolation
When performing operations such as welding, cutting, and applying
primer, using the spline interpolation makes teaching for workpieces with
irregular shapes easier. The path of motion is a parabola passing through
three points. When spline interpolation is used for teaching a robot axis,
the move instruction is MOVS.
 Single Spline Curve
When a single spline curve movement is required, teach the spline
interpolation for three points, P1 to P3, as shown in the figure below. If
joint or linear interpolation is taught at point P0, the point before starting
the spline interpolation, the manipulator moves from P0 to P1 in a straight
line.
Point Interpolation
Type
Instruction
P0 Joint or
Linear
MOVJ
MOVL
P1
P2
Circular MOVC
P3 Circular MOVC
FPT
P4
P5
Circular MOVC
P6 Joint or
Linear
MOVJ
MOVL
P0 P1
P5 P6
P2
P3
P4
Table 3-3: Interpolation Type for Single Spline Curve
Point Interpolation
Type
Instruction
P0 Joint or
Linear
MOVJ
MOVL
P1
P2
P3
Spline MOVS
P4 Joint or
Linear
MOVJ
MOVL
P2
Automatically becomes
a straight line.
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YASKAWA DX100 Specifications

General

Programming Language	Inform III
Compatible Robots	Motoman robots
Operating Temperature	0-45°C
Humidity	20-80% RH (non-condensing)
Protection Class	IP20
Interface	Ethernet
Safety Standards	ANSI/RIA R15.06-1999
Pendant	Available
I/O Capacity	1024 inputs / 1024 outputs
Storage Temperature	-10-60°C