Installation manual

Chapter 6 Programming
6-106
《On absolute and relative deviation offset control in the trajectory coordinate system》
Method to control adding offset value for playback trajectory coordinate system.
The playback trajectory coordinate system is changeable depending on data. Therefore,
the method adopted here is the provided offset value, using trajectory coordinate, when in
adding offset, converts to non changeable base coordinate, then, makes an addition to the
base coordinate system.
How to create playback trajectory coordinate system:
Three teach points of PTP linear interpolation data are defined as P1, P2 and P3
＜Trajectory coordinate system 1 (ｘ
w1
、ｙ
w1
、ｚ
w1
) from the 1
st
point P1 to the 2
nd
point P2＞
The direction created by linking linearly from the 1
st
point P1 to the 2
nd
point P2 is the
direction of trajectory coordinate system 1 (ｘ
w1
、ｙ
w1
、ｚ
w1
). Solve the direction of
trajectory coordinate ｙ
w1
through calculating the direction of mechanical interface
coordinate 1 and vector product of ｘ
w1
direction. Finally, Solve trajectory coordinateｚ
w1
from calculatedｘ
w1
and ｙ
w1
direction.
＜Trajectory coordinate system 2 (ｘ
w2
、ｙ
w2
、ｚ
w2
) from the 2
nd
point P2 to the 3
rd
point P3＞
Likewise, the direction created by linking linearly from the 2
nd
point P2 to the 3
rd
point P3
is the direction of trajectory coordinate system 2 (ｘ
w2
、ｙ
w2
、ｚ
w2
). Solve the direction of
trajectory coordinate ｙ
w2
through calculating the direction of mechanical interface
coordinate 1 and vector product of ｘ
w2
direction. Finally, Solve trajectory coordinateｚ
w2
from calculatedｘ
w2
and ｙ
w2
direction.
z
W2
Trajectory
Coordinate 2
Mechanical interface
Coordinate 1
x
W2
z
P3
y
W2
y
P2
E1
x
E2
S3
W1W2
P6
z
Z
Tool
S2
Mechanical interface
Coordinate 1
y
x
x
W1
S1
X
P1
z
W1
Base coordinate
y
W1
Trajectory
Coordinate 1
Y
Tool