Linear Interpolation; Circular Interpolation - YASKAWA YRC1000 Instructions Manual

4 Remote laser welding condition registration files
4.2 Interpolation of welding lines

4.2.1. Linear interpolation

4.2.2. Circular interpolation

Parameters for automatic setting of the welding end point
Normally, the automatic welding end point position is fixed at X = +3 mm on the tool
coordinate system, but you can use the following parameters to set an offset from the
tool's home position. With these parameters, you can also specify the desired welding
start position at automatic registration.
Parameter
SxE193
SxE194
SxE195
Weld in a straight line from the welding start point to the
welding end point.
Weld in a circular motion with the welding start point
position as the circle's center at the specified radius.
The welding start position is the position on the circle's
radius in the direction from the welding start point to the
welding end point. The welding direction is
counterclockwise when the value entered for the radius
is positive, and clockwise when the value entered is
negative. You can also teach the program the circle's
angle.
Name
Shift amount for automatic
setting of the welding end point
Shift amount for automatic
setting of the welding end point
Shift amount for automatic
setting of the welding end point
Details
Tool coordinates x
component
(Range: 0 to 200 mm)
Tool coordinates x
component
(Range: 0 to 200 mm)
Tool coordinates x
component
(Range: 0 to 200 mm)
4-37
HW1486273
Unit
[μm]
[μm]
[μm]
37 / 95