4 Teaching
4.1 Teaching Operation
4-3
HW1485509
HW1485509
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 will move from P0 to P1 in a straight
line.
Continuous Circular Arcs
When two or more successive circular movements with different
curvatures are required, the movements can be continuously performed
by adding an “FPT (Final Point)” tag to the step whose curvature needs to
be changed.
If not adding a “FPT” tag, successive circular movements must be
separated from each other. Do this by adding joint or linear interpolation
step (P4) at a connecting point of the preceding movement and the
following movement. However, when steps at the same connecting point
are taught, movements cannot be continuously performed. For more
information on the “FPT” tag, refer to YRC1000/YRC1000micro
SUPPLEMENTAL INSTRUCTIONS FOR Smart Pendant
(INSTRUCTIONS FOR INFORM LANGUAGE) (HW1485511).
Table 4-1: Interpolation Type for Single Circular Arc
Point Interpolation
Type
Instruction
P0 Joint or
Linear
JointMove
LinearMove
P1
P2
P3
Circular CircleMove
P4 Joint or
Linear
JointMove
LinearMove
Table 4-2: Interpolation Type for Continuous Circular Arcs
Point Interpolation
Type
Instruction
P0 Joint or
Linear
JointMove
LinearMove
P1
P2
Circular CircleMove
P3 Circular CircleMove
FPT
P4
P5
Circular CircleMove
P6 Joint or
Linear
JointMove
LinearMove
P2
P3 P4P0 P1
utomatically becomes
a straight line.
To Next Page
Loading...
