Interpolation Control; Figures - Denso VS-6556G Instruction Manual

INTERPOLATION CONTROL

There are three different methods of movement that can be specified when telling the robot to move
between two different points. Two of these were referenced in the example program that was run on
the teach pendant (move p & move c). Below is a description of each movement type.
PTP: Point to Point
This can be defined as the movement from one
point to another point. The path on which the robot
moves depends on the robot posture and is not
always a straight line.
To designate this path type use "move P" before
the variable. It is suggested to use this as the first
motion command in a program as the other paths
may not be available due to the robot's position.
CP: Linear Path
This control manages interpolation so that the path
to reach the motion destination position will be a
straight line.
Use "move L" for this interpolation method. If an
error occurs, visually check to see if it is possible
for the robot to move between the two points.
ARC: Circular Path
This control manages interpolation so that the path
to the motion destination position will be an arc.
By designating "move C" the robot executes the
ARC motion. The robot will use the first variable
as the center-point of the arc, and the second
variable as the destination point.

Figures

A 6 axis robot has many available figures to reach one point. It can take a path to the right or left, above
or below to get to the designated point in the work space. Figures can be used to influence the method
in which the robot moves from one point to the other and how it behaves during a program.
WINCAPS has 32 predefined figures to select from to use for a point in space:

The shoulder (axes 1, 2, 3) of the robot can be designated lefty or righty.

The elbow (axes 2 & 3) of the robot can be designated

The wrist (axes 4 & 5) of the robot can be designated

The tooling end (axis 6) of the robot can be designated

The wrist (axis 4) of the robot can also be designated
above or below.
non-flip or flip.
single or double
single or double