Interpolation Type And Play Speed - YASKAWA NX100 Operator's Manual

149235-1CD
3.2.2

Interpolation Type and Play Speed

Interpolation type determines the path along which the manipulator moves between playback steps.
Play speed is the rate at which the manipulator moves.
Normally the three elements of position data, Interpolation type, and play speed are registered for the
robot axes steps at one time. If the interpolation type or play speed settings are omitted during
teaching, the data used from the previously taught step is automatically used.
 Joint Interpolation
The joint interpolation is used when the manipulator does not need to move in a specific path toward
the next step position. When the joint interpolation is used for teaching a robot axis, the move
instruction is MOVJ. For safety purposes, use the joint interpolation to teach the first step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
Play Speed Setting Window
• Speeds are indicated as percentages of the maximum rate.
• Setting "0:Speed Omit" sets the same speed as the previous determination.
Operation
1 Move the cursor to the play
speed.
2 Set the play speed by pressing
[SHIFT] + the cursor key.
The joint speed value increases or decreases.
MOVJ VJ= 0.78
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)
3-5
3.2 Teaching Operation
Explanation
RE-CSO-A031
3 Teaching
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