4.1. Step movement

4.1. Step movement

 

Describes the operation of servo hand axis and the robot axis when moving a step (position).

 

(1)   Interpolation Off

Servo hand axis and robot axis start simultaneously and reach the target position at the same time.

 

(2)   Linear interpolation

Servo’s fixing hand reaches at the target position by linear interpolation (trace, position to be maintained).

Same as “interpolation OFF” operation, servo hand axis and robot axis start simultaneously and reach the target position at the same time.

 

(3)   Circular interpolation

Servo’s fixing hand reaches at the target position by circular interpolation (trace, position to be maintained).

Same as “interpolation OFF” operation, servo hand axis and robot axis start simultaneously and reach the target position at the same time.

 

(4)   Shift

All functions for shift (offline, online, search, palletize) are applied for the robot only. Servo hand axis is only moved to the position as recorded.

 

(5)   Coordinate transformation

Only shift elements for the robot are transformed. The target value for the servo hand axis is to be written same as recorded.

 

(6)   Applying pendant program calls

As writing a relative program, only the relative position for the robot is applied. The target value for the servo hand axis is to be written same as recorded.

 

(7)   mirrorimage

Only applicable when the base axis is selected for additional axis specification. Not applicable for the servo hand axis.