YASKAWA DX100 Operator's Manual page 93

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3.2 Teaching Operation

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.

Table 3-4: Interpolation Type for Continuous Spline Curves

Identical-point

step not required

When the parabolas overlap, a composite motion path is created.

• The play speed setting window is identical to that for the linear

interpolation.

• As with the circular interpolation, the speed taught at P2 is applied

from P1 to P2, and the speed taught at P3 is applied from P2 to P3.

Teach points so that the distances between the three points

are roughly equal. If there is any significant difference, an

error will occur on playback and the manipulator may

operate in an unexpected, dangerous manner. Ensure that

the ratio of distances between steps m:n is within the range

of 0.25 to 0.75.

Point Interpolation

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