Linear Interpolation - YASKAWA NX100 Operator's Manual

3 Teaching
3.2 Teaching Operation


Linear Interpolation

The manipulator moves in a linear path from one taught step to the next. When the linear interpolation
is used to teach a robot axis, the move instruction is MOVL. Linear interpolation is used for work such
as welding. The manipulator moves automatically changing the wrist position as shown in the figure
below.
Play Speed Setting Window (same for circular and spline interpolation)
There are two types of displays, and they can be switched depending on the application.
Operation
1 Move the cursor to the play
speed.
2 Set the play speed by pressing
[SHIFT] + the cursor key.
The play speed value increases or decreases.
MOVL V= 660
Fast 1500.0
750.0
375.0
187.0
93.0
46.0
23.0
Slow 11 (mm/s)
3-6
Explanation
Fast 9000
4500
2250
1122
558
276
138
Slow 66 (cm/min)
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