YASKAWA DX100 Operator's Manual page 77

DX100
3 Teaching
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
P2
Identical-point
step not required
P3
P0 P1
When the parabolas overlap, a composite motion path is created.
Start path
<Play Speed>
• The play speed setting window is identical to that for the linear inter-
polation.
• 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 oper-
ate 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.
NOTE
工控帮助教小舒QQ:2823408167
3-10
Point Interpolation
Type
P0 Joint or
Linear
P1 Spline
to
P5
P5 P6
P6 Joint or
Linear
P4
P2
n
P1
m
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Instruction
MOVJ
MOVL
MOVS
MOVJ
MOVL
End path
P3