4.2. Playback

4.2. Playback

 

(1)   Interpolation Off

Arrive at a target point for each axis at the same time.

 

(2)   Linear interpolation

Robot tool end (TCP) achieves linear interpolation (trace and position maintained) movement.

Base axis moves in the connection with the robot to enable the tool end to achieve linear interpolation.

Other additional axes have no connection with the robot tool end, but reach the target point at the same time.

 

(3)   Circular interpolation

Robot tool end (TCP) achieves linear interpolation (trace and position maintained) movement.

Base axis moves in the connection with the robot to enable the tool end to achieve linear interpolation.

Additional axes have no connection with the robot tool end, but reach the target point at the same time.

 

(4)   Shift

Shift functions (offline, online, search, palletize) are basically applied to the robot, and the additional axis only moves to a recorded location. Special attention should be paid to ensure that there is no movement of the additional axis during the search movement step in the search function. In the event that drive axis shift is required, it shall be shifted from the base coordinate system.

 

(5)   Coordinate transformation

Since only moving elements of the robot will be transformed, and the target value of additional axis will be returned to the same value, there should be no movement of the additional axis in the original program for transformation.

 

(6)   Applying pendant program calls

If creating a pendant program, an additional axis should not be moved. Only the pendant location for robot shall be applied.