Linear Weaving Interpolation - Panasonic VR2 Series Operating Instructions Manual

4-10-5. Linear weaving interpolation

Teach a weaving start point (MOVELW), two amplitude points (WEAVEP) and weaving end point (MOVELW) to create
weaving pattern.
1
Weaving start point
1. At the point you want to start weaving,
press the Enter key. Then the dialog
box to set the teaching point appears.
2. Check to make sure that "MOVELW" is
set as the interpolation type, and set
other parameters in the box.
3. Press the Enter key or click the OK
button on the screen to save the point
as a weaving start point.
Weaving start point
(MOVELW)
3
1.
2.
• To extend weaving movement in succession
Simply add another "MOVELW" teaching point at the point you want to end the weaving movement.
At that time, the amplitude of the extended part of the weaving section is the same.
• To change weaving amplitude of the extended weaving section
Teach and save new weaving amplitude points (WEAVEP) in the extended weaving section.
• Incomplete teaching of linear weaving interpolation
Four (or six for pattern 4 and 5) teaching points to determine weaving movement must be taught and saved to
complete linear weaving interpolation. If any one of those points is not saved, although those teaching points are
saved as weaving points, in trace operation and operation, the robot travels over those points with linear
interpolation.
2
1.
2.
3.
Amplitude point 1 (WEAVEP)
Amplitude point 2 (WEAVEP)
Amplitude point 2
Then, move the robot to the other point to
determine the weaving amplitude (Amplitude
point 2). Then save it as Amplitude point 2 in
the same manner of Amplitude point 1.
As for weaving pattern 4 or 5, teach two more
amplitude points (3 and 4) in the same
manner.
Amplitude point 1
Next, move the robot to one of the points
to determine the weaving amplitude
(Amplitude point 1).
Press the Enter key, and then the dialog
box to set the teaching point appears.
Switch the interpolation time to "WEAVEP"
and set other parameters in the box.
Press the Enter key or click the OK button
on the screen to save the point as
Amplitude point 1.
Main trace
Weaving
end point
(MOVELW)
4
1.
2.
4-13
Weaving end point
Move the robot to the point you want to
end weaving, and then press the Enter
key. The dialog box to set the teaching
point appears.
Set parameters in the box.
Press the Enter key or click the OK button
on the screen to save the point.