Linear Interpolation Motion Mode - Yamaha RCX222 User Manual

9.7.3 Linear interpolation motion mode

[Procedure]
1) Press in "AUTO>POINT" mode to display a screen like that shown below, then
press (LINEAR).
■ Point trace screen in linear interpolation motion mode (1)
AUTO >POINT
————————————x———————y———————z———————r———
P3 = 150.50
P4 = 96.65 -224.89
P5 = -63432
COMNT :
[POS] 50.00
PTP ARCH
2) Use the cursor ( ↑ / ↓ ) keys to select the point number to be checked.
n
NOTE
Linear interpolation motion at the sub robot is not supported in controller
versions prior to Ver. 9.11.
■ Point trace screen in linear interpolation motion mode (2)
AUTO >POINT
————————————x———————y———————z———————r———
P3 = 150.50
P4 = 96.65 -224.89
P5 = -63432
COMNT :
[POS] 50.00
LINEAR
3) Press to move the robot by linear interpolation motion to the specified point
position. The trace speed is one fifth of the automatic movement speed. To stop the
trace, press .
w
WARNING
UPON PRESSING
NOT ENTER THE ROBOT MOvEMENT RANGE.
100% [MG][S0H0J]
64.53 0.00 0.00
0.00 0.00
0.00 0.00
19735
[ ]
100.00 0.00 0.00
LINEAR
100% [MG][S0H0J]
64.53 0.00
0.00
19735 0.00
[ ]
100.00 0.00
JUMP VEL+
, THE ROBOT STARTS TO MOvE. TO AvOID DANGER, DO
9. "AUTO" mode
0.00
0.00
0.00
0.00
VEL-
Chapter
4
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