4 Teaching
4.1 Teaching Operation
4-4
HW1485509
HW1485509
<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 will
have a shorter radius than that taught.
4.1.3.4 Spline Interpolation
When performing operations such as welding, cutting, and applying
primer, using the spline interpolation simplifies the teaching process for
workpieces with irregular shapes. The path of motion is a parabola
passing through three points. When spline interpolation is used for
teaching a robot motion, the instruction to use is SplineMove.
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.
Table 4-3: Interpolation Type for Continuous Circle Curve
Point Interpolation
Type
Instruction
P0 Joint or
Linear
JointMove
LinearMove
P1
P2
P3
Circular CircleMove
P4 Joint or
Linear
JointMove
LinearMove
P5
P6
P7
Circular CircleMove
P8 Joint or
Linear
JointMove
LinearMove
P0 P1
P7 P8
P2
P3
P4
P5
P6
Joint or linear
motion type
Table 4-4: Interpolation Type for Single Spline Curve
Point Interpolation
Type
Instruction
P0 Joint or
Linear
JointMove
LinearMove
P1
P2
P3
Spline SplineMove
P4 Joint or
Linear
JointMove
LinearMove
P2
P3 P4P0 P1
utomatically becomes
a straight line.
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