YASKAWA NX100 User Manual

3 Teaching
3.2 Teaching Operation
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RE-CSO-A031
3.2.2 Interpolation Type and Play Speed
Interpolation type determines the path along which the manipulator moves between playback steps.
Play speed is the rate at which the manipulator moves.
Normally the three elements of position data, Interpolation type, and play speed are registered for the
robot axes steps at one time. If the interpolation type or play speed settings are omitted during
teaching, the data used from the previously taught step is automatically used.
 Joint Interpolation
The joint interpolation is used when the manipulator does not need to move in a specific path toward
the next step position. When the joint interpolation is used for teaching a robot axis, the move
instruction is MOVJ. For safety purposes, use the joint
interpolation to teach the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
Play Speed Setting Window
• Speeds are indicated as percentages of the maximum rate.
• Setting “0:Speed Omit” sets the same speed as the previous determination.
Operation Explanation
1 Move the cursor to the play
speed.
2 Set the play speed by pressing
[SHIFT] + the cursor key.
The joint speed value increases or decreases.
MOVJ VJ= 0.78
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)
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YASKAWA NX100 Specifications

General

Manufacturer	YASKAWA
Model	NX100
Operating Temperature	0 to 45°C
Humidity	20 to 80% RH (non-condensing)
Communication Interfaces	Ethernet
Safety Standards	ISO 10218-1
Power Supply	200-230V AC, 50/60Hz
Storage Temperature	60°C