Spline Interpolation - YASKAWA DX100 Operator's Manual

DX100

3.2.2.4 Spline Interpolation


3 Teaching
3.2 Teaching Operation
Alternatively, to continue movements without adding an extra joint or linear
interpolation step in between, add "FPT" tag to the step whose curvature
is needed to be changed.
P2
P3
P0 P1
P4
<Play Speed>
• The play speed set display is identical to that for the linear
interpolation.
• The speed taught at P2 is applied from P1 to P2. The speed taught
at P3 is applied from P2 to P3.
• If a circular operation is taught at high speed, the actual arc path has
a shorter radius than that taught.
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.
Table 3-3: Interpolation Type for Single Spline Curve
P2
Automatically becomes
a straight line.
3-9
Point Interpolation
Type
P0 Joint or
Linear
P1 Circular
P2
P5 P6
P3 Circular
P4 Circular
P5
P6 Joint or
Linear
Point Interpolation
Type
P0 Joint or
Linear
P1 Spline
P2
P3
P4 Joint or
Linear
RE-CSO-A037
155507-1CD
Instruction
MOVJ
MOVL
MOVC
MOVC
FPT
MOVC
MOVJ
MOVL
Instruction
MOVJ
MOVL
MOVS
MOVJ
MOVL
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