YASKAWA DX100 Operator's Manual page 108

DX100

3 Teaching
3.3 Checking Steps
Spline Curve Movements with FWD/BWD Operations
• The manipulator moves in a straight line to the first step of spline
interpolation.
• There must be three spline curve motion steps in a row to perform a
spline curve operation.
• Depending on the position where the [FWD] / [BWD] operation is
performed, the alarm "IRREGULAR DISTANCES BETWEEN
TEACHING POINTS" may occur.
• Note that FWD/BWD inching operations change the path of the
manipulator and caution is therefore required. Performing
these operations also increases the likelihood that the "IRREGULAR
DISTANCES BETWEEN TEACHING POINTS" will occur.
• If the [FWD] or [BWD] operation is restarted after being stopped to
move the cursor or perform a search, the manipulator moves in a
straight line to the next step.
• If the [FWD] or [BWD] operation is restarted after being stopped to
move the axis as shown below, the manipulator moves in a straight
line to P2, the next spline curve motion step. Spline curve motion is
restored from P2 onward. However, the path followed between P2
and P3 is somewhat different from the path followed at playback.
Linear motion
P2
P1
• If the manipulator is moved to P3 with [FWD], stopped, and then
returned to P2 with [BWD], the path followed between P2 and P3 is
different for each of the following: the first FWD operation, the BWD
operation, and the consequent FWD operation.
P1
3-25
: Motion path for FWD/BWD key operation
: Motion using axis keys
: Motion path during playback
P3
P2
P3
RE-CSO-A037
155507-1CD
P4
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