4 Teaching
4.1 Teaching Operation
4-5
HW1485509
HW1485509
Continuous Spline Curves
This describes a manipulator moving through a path created by combining
parabolic curves. This differs from circular interpolation in that steps at an
identical point or an FPT tag are not required at the connecting point
between two spline curves.
When the parabolas overlap, a composite motion path is created.
Play Speed
– The play speed setting window is identical to that for linear
interpolation.
– As with circular interpolation, the speed taught at P2 is applied from
P1 to P2, and the speed taught at P3 is applied from P2 to P3.
Table 4-5: Interpolation Type for Continuous Spline Curves
Point Interpolation
Type
Instruction
P0 Joint or
Linear
JointMove
LinearMove
P1
to
P5
Spline SplineMove
P6 Joint or
Linear
JointMove
LinearMove
Teach points so that the distances between the three points
are roughly equal. If there is any significant difference, an
error will occur on playback and the manipulator may
operate in an unexpected, dangerous manner. Ensure that
the ratio of distances between steps m:n is within the range
of 0.25 to 0.75.
P0 P1
P5 P6
P2
P3
P4
Identical-point
step not required
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