C-Shaped Interpolation - YASKAWA YRC1000 Instructions Manual

4 Remote laser welding condition registration files
4.2 Interpolation of welding lines
When the program calculates the position for the automatic end point based on the
above parameter settings, if the setting is outside the setting range, after the start point
is registered during remote laser welding position registration, the following error will
occur when the program attempts to calculate the end point.
ERROR: 3270 Welding end point automatic registration parameter error
If the parameter setting is within the range of 0 to 200 mm but the position of the end
point is not a position that allows robot movement, the following error will occur.
ERROR: 3271 Welding end point automatic registration outside active range

4.2.3. C-shaped interpolation

On a straight line from welding start point A (teach) to
welding end point B (teach), weld in the trajectory of a
semicircle having a specified radius plus a straight line
having a specified length. If you enter a negative
number for the radius, you can flip the C shape.
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