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6. System setting
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⑵ Discontinuous step / Continuous step
① Discontinuous step : It means a step to move off on the aimed step.
The move-off point is a point which the current value (feedback encoder) reaches
to the accuracy level (Bit, Distance) designated in the step.
② Continuous step : It means a step which doesn't have the move-off point.
There are steps that the cornering is possible and impossible step in the
continuous step.
⑶ Step that the cornering is possible
① The step that the cornering is possible shifts after planning the route between
two steps. The step that the cornering is possible is the same as following. There
are P(Interpolation OFF), L(Straight Line Interpolation) and C(Circular Arc
Interpolation) in the interpolation type which supports in the Hi4 controller.
The continuous system which supports the cornering in these types is L-L, L-J,
J-L, C-J, J-C and J-J.
※ Only, the step which the coordinate system changes( for example, such case as
it shifts for the direction of the positioner motive interpolation step from the
robot tool interpolation ) is excluded in the cornering step.
② The locus of L-L cornering
The L-L cornering is a method that plans the locus with a circular arc
between two locuci of continuous straight line. It corners describing the locus
of circular arc that circumscribes on the circle of accuracy range from two
straight lines and a point which is applicable to step1 in the following figure.
When replaying in the automatic mode, the locus should be checked in
advance due to shifting without reaching to designate step.
Current step interpolation
method
Next step interpolation metho
d
Cornering
MOVE L
MOVE L
Ο
MOVE L MOVE P
Ο
MOVE C MOVE P
Ο
MOVE P MOVE P
Ο
MOVE P MOVE L
Ο
MOVE P MOVE C
Ο
Pedestal tool straight line
interpolation
Pedestal tool straight line
interpolation
Ο
SMOV L SMOV L
Ο
SMOV L MOVE P
Ο
SMOV C MOVE P
Ο
MOVE P SMOV L
Ο
MOVE P SMOV C
Ο
The case of continuous ste
p
exce
p
t those
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