1.1. Concept of the stationary tool interpolation

1.1. Concept of the stationary tool interpolation

 

The stationary tool interpolation function can be applied in a way that a stationary tool, fixed to a location outside a robot, performs linear and circular interpolation operations on a workpiece. The operator needs to designate the teaching position corresponding to the stationary sealing tool, as shown below, and prepares a robot program by creating interpolation steps for the stationary tool. Then, According to thus created program, the robot will operate to allow the stationary tool to create a linear or circular trajectory for the workpiece.