Installation manual

Chapter 3. CONTROL MODE
３－6
３．２ Trajectory Control Mode
How to operate each axis or tip position/orientation of a manipulator:
In PA10, the interpolation is as follows:
ａ．
Trajectory Interpolations
・Axis angle interpolation
・Tip linear interpolation
・Tip arc interpolation
・Tip circle interpolation
・Tip orientation interpolation
ｂ．Velocity Control
・Constant velocity interpolation
・( Acceleration + Constant velocity ) Interpolation
･( Constant velocity + deceleration) Interpolation
･( Acceleration + Constant velocity + deceleration) Interpolation
Control Mode ａ．
Trajectory interpolation ｂ．Velocity Control
Each Axis Control Each Axis Interpolation
Tip Position Control Tip Linear Interpolation
Tip Orientation Control Tip Orientation Interpolation
Each Axis Interpolation
Tip Linear Interpolation
Tip Orientation Interpolation
Tip Arc Interpolation
Tip Orientation Interpolation
Playback Control
Tip Circle Interpolation