Spline Interpolation - YASKAWA NX100 Operator's Manual

3 Teaching
3.2 Teaching Operation


Spline Interpolation

When performing operations such as welding, cutting, and applying primer, using the spline
interpolation makes teaching for workpieces with irregular shapes easier. The path of motion is a
parabola passing through three points. When spline interpolation is used for teaching a robot axis, the
move instruction is MOVS.
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.
Automatically becomes
a straight line.
P0
Continuous Spline Curves
The manipulator moves through a path created by combining parabolic curves. This differs from the
circular interpolation in that steps with identical points are not required at the junction between two
spline curves.
P2
P0 P1
When the parabolas overlap, a composite motion path is created.
P2
P1 P3 P4
Identical-point
step not required
P5 P6
P3
P4
Start path
3-8
Interpolation Type for a Single Spline Curve
Point Interpolation Type
P0 Joint or Linear
P1 Spline
P2
P3
P4 Joint or Linear
Interpolation Type for Continuous Spline Curves
Point Interpolation Type
P0 Joint or Linear
P1 Spline
to
P5
P6 Joint or Linear
End path
149235-1CD
Instruction
MOVJ
MOVL
MOVS
MOVJ
MOVL
Instruction
MOVJ
MOVL
MOVS
MOVJ
MOVL
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