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2. Basic operation
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2.2.1.1 Interpolation - locus from between Step and Step
The interpolation method of [step n] decides the locus from between [step n-1] and [step n]..
P - interpolation off (point to point)
It is used the section which is not concerning for the locus form of the tool-end (control
point) movement to task point.
L - linear interpolation
Move linear locus form between two step. It is used such as welding section which needs
linear locus form. Tool and moves and changes the wrist pose automatically like in the
bellow's drawing.
Reference
1) Pose interpolation impossible condition
- Near the deadzone of B axis
- When the sign of B axis is changed.
- When the angle variation of R1, R2 axis is over 180 deg.
Ö It is varied according to interpolation execution method = <position interpolation, error
stop> of B axis deadzone's designated item.
- When the center of B axis or the end of tool is passing the circle center of S axis.
Ö Locus form tolerance or error can be occurred.
- When the angel variation of S axis is in excess of 180 deg.
Ö Error is occurred certainly.
C - circle interpolation
Move with circle locus form between two step. To make circle, 3 points are to be indicated.
The standard is as follows.
If the interpolation type is circle "C" when move to [step n+1] form [step n], look at
next step [step n+2]. If the interpolation type of [step n+2] is also circle "C", the circle
is made with [step n], [step n+1] and [step n+2]. Also robot moves following to arc of
[step n] ~ [step n+1] section. If the interpolation type is not circle interpolation, the
circle is made with [step n-1], [step n] and [step n+1] refer to previous step [step n-1].
In case of an exception, if the interpolation type of [step 2] is "C" and the interpolation
type of [step 3] is not "C", the last step [step n] must be referred to make circle.