Installation manual

Chapter 6 Programming
6-30
Control method:・・・
＜NOT S3-axis Interpolation Mode＞
・The input tip position/orientation becomes the target position/orientation
・The tip position trajectory is interpolated linearly.
・The tip orientation/rotation angle is interpolated.
・Calculates the shifting and rotation velocity from the arm parameter default tip
linear/ rotational velocity.
Vxyz :Default tip linear velocity
Vypr : Default tip rotational velocity
△xyz :Tip position shifting value
△ypr :Tip orientation/rotation angle
Txyz = △xyz／Vxyz : Time taken for tip shifting.
Typr = △ypr／Vypr : Time taken for tip rotation.
If “Txyz ≧ Typr”, “Vxyz” becomes the standard.
If “Txyz ＜ Typr”, “Vypr” becomes the standard.
＜S3-axis interpolation mode＞
Interpolates, taking into account of S3-axis rotation angle as the interpolation
standard.
・The input tip position/orientation becomes the target position/orientation
・The tip position trajectory is interpolated linearly..
・The tip orientation/rotation angle is interpolated.
・The S3-axis rotation angle is interpolated linearly..
・Calculates the shifting and rotation velocity from the arm parameter default tip
linear/ rotational velocity.
・Calculates S3-axis shifting angle from the default S3-axis angle velocity.
Vxyz :Default tip linear velocity
Vypr : Default tip rotational velocity
VS3 : Default S3-axis angle velocity
△xyz :Tip position shifting value
△ypr :Tip orientation/rotation angle
△s3 :S3-axis rotation angle
Txyz = △xyz／Vxyz : Time taken for tip shifting.
Typr = △ypr／Vypr : Time taken for tip rotation.
Ts3 = △s3 ／Vs3 : Time taken for S3-axis rotation.
If “Txyz“ is the maximum, “Vxyz” becomes the standard.
If “Typr” is the maximum, “Vypr” becomes the standard.
If “Ts3is” is the maximum, “Vs3” becomes the standard.