Hyundai HI4 operation manual Interpolation locus from between Step and Step

2.Basic operation

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2.2.1.1 Interpolation - locus from between Step and Step

The interpolation method of [step n] decides the locus from between [step n-1] and [step n]..

„P - interpolation off (point to point)

It is used the section which is not concerning for the locus form of the tool-end (control point) movement to task point.

„L - linear interpolation

Move linear locus form between two step. It is used such as welding section which needs linear locus form. Tool and moves and changes the wrist pose automatically like in the bellow's drawing.

Reference

1)Pose interpolation impossible condition

-Near the deadzone of B axis

-When the sign of B axis is changed.

-When the angle variation of R1, R2 axis is over 180 deg.

ÖIt is varied according to interpolation execution method = <position interpolation, error stop> of B axis deadzone's designated item.

-When the center of B axis or the end of tool is passing the circle center of S axis.

ÖLocus form tolerance or error can be occurred.

-When the angel variation of S axis is in excess of 180 deg.

ÖError is occurred certainly.

„C - circle interpolation

Move with circle locus form between two step. To make circle, 3 points are to be indicated. The standard is as follows.

If the interpolation type is circle "C" when move to [step n+1] form [step n], look at next step [step n+2]. If the interpolation type of [step n+2] is also circle "C", the circle is made with [step n], [step n+1] and [step n+2]. Also robot moves following to arc of [step n] ~ [step n+1] section. If the interpolation type is not circle interpolation, the circle is made with [step n-1], [step n] and [step n+1] refer to previous step [step n-1].

In case of an exception, if the interpolation type of [step 2] is "C" and the interpolation type of [step 3] is not "C", the last step [step n] must be referred to make circle.

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