Interpolation Type And Play Speed; Joint Interpolation - YASKAWA DX100 Operator's Manual

155507-1CD
DX100

3.2.2 Interpolation Type and Play Speed

3.2.2.1 Joint Interpolation

3 Teaching
3.2 Teaching Operation
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 position data, interpolation type, and play speed are
registered together for a robot axis step. If the interpolation type or play
speed settings are omitted during teaching, the data used from the
previously taught step is automatically used.
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.
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.
3-6
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)
RE-CSO-A037
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