4.3. Example of linear interpolation on positioner

4.3. Example of linear interpolation on positioner

 

 

(1)   Decide the start and target point on the workpiece.

 

 

(2)   Use the mechanism key and coordinate to select and move the positioner. Use the mechanism key again to select the robot and align the starting point to the starting point of the robot tool end. In this condition, press the record key to record the ‘MOVE’ command .(Record with SMOV if necessary.)

 

(3)   Use the mechanism key and coordinate key to set the positioner synchronized jog mode. If the current positioner is group 1, select the coordinate ‘Synchronized S1’.

 

 

(4)   With the master selected, move the position to the location desired and the robot will maintain the position and location according to the task starting point on the positioner.

 

Reference)

In the above condition, the error between one point of the positioner and the tool end is the error from the calibration of the robot and positioner, and this error does not show up in trace error during playback. That is, if the robot moves to the target location again and record with “SMOV” even with some level of error, the trace error of the step during playback will not cause any error.

 

 

(5)   After selecting the mechanism back to robot, use the jog key to move and align the robot to ‘Target point’ (S2).

 

 

(6)   To record the synchronized step (SMOV), it must be reset positioner synchronized jog mode. Select the coordinate to be ‘Synchronized S1’and press the [Record] key to record “SMOV” step.

 

(7)   Follow the process of ③→④→⑤ for following steps.

 

 

(8)   When the recorded program is executed, the positioner will move in linear interpolation for the workpiece on top of the positioner.

 

 

 

◆【Caution】◆

 

①    Recording the positioner synchronized step (SMOV) does not always have to be done this way. Independently operate the robot and positioner to decide the location and position, and the record as SMOV step. The robot will move by the designated interpolation method on top of the workpiece of the positioner.

 

②    When the interpolation methods of two steps recorded with “L”, it will execute a cornering motion as in MOVE.

 

③    Speed of the step recorded with SMOV is the task speed. Therefore if the task distance between the recorded steps is short, the task speed of the positioner will be nearly ∞ (Infinite), making the positioner move in maximum speed, even when the positioner has moved a lot. In this case to limit the speed of the positioner, the speed unit can be set to “SEC”. By setting the unit of the step movement to time rather than speed, the moving time will be designated even when the distance of task on the workpiece is 0.

 

(Ex) Program example

 

S1   MOVE  L,S=60%,A=1,T=0                  → Start location access step

S2   SMOV  S1,L,S=100mm/s,A=1,T=0   →Positioner synchronized linear  interpolation

S3   SMOV  S1,L,S=100mm/s,A=1,T=0

S4   SMOV  S1,L,S=100mm/s,A=1,T=0

S5   MOVE  P,S=10%,A=1,T=0                 → Retract step(Not synchronized with

positioner)

S6   MOVE  L,S=200mm/s,A=1,T=0

END