YASKAWA NX100 User Manual

3 Teaching
3.2 Teaching Operation
3-7
149235-1CD
RE-CSO-A031
 Circular Interpolation
The manipulator moves in an arc that passes through three points. When circular interpolation is used
for teaching a robot axis, the move instruction is MOVC.
Single Circular Arc
When a single circular movement is required, teach the circular interpolation for three points, P1 to P3,
as shown in the following figure. If joint or linear interpolation is taught at P0, the point before starting
the circular operation, the manipulator moves from P0 to P1 in a straight line.
Continuous Circular Arcs
When continuous circular movement is required, the two arcs must be separated from each other by a
joint or linear interpolation step. This step must be inserted between two steps at an identical point. The
step at the end point of the preceding circular move must coincide with the beginning point of the
following circular move.
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.
P2
P3 P4P0 P1
Automatically becomes
a straight line.
Interpolation Type for Single Circular Arc
Interpolation Type Instruction
P0 Joint or Linear MOVJ
MOVL
P1
P2
P3
Circular MOVC
P4 Joint or Linear MOVJ
MOVL
P0 P1
P7 P8
P2
P3
P4
P5
P6
Joint or linear
motion type
Interpolation Type for Continuous Circular Arc
Point Interpolation Type Instruction
P0 Joint or Linear MOVJ
MOVL
P1
P2
P3
Circular MOVC
P4 Joint or Linear MOVJ
MOVL
P5
P6
P7
Circular MOVC
P8 Joint or Linear MOVJ
MOVL
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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