Denso RC5 Specifications download pdf (Page 103)

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101

Chapter 3 Robot Motion

3-13

3.3.2 CP Control

CP control manages interpolation so that the path to reach the motion

destination position will be a straight line.

Fig. 3-23 shows an example of CP control motion.

If you designate “L” for designation of the interpolation method with the motion

control command, the robot executes the CP motion.

on pa

s a

ne.

Fig. 3-23 CP Control Motion

• When CP control is executed, the robot cannot simply move the position of a

different figure from the current figure. If you designate a different figure, an

error of “607F robot figure mismatch” may occur. However, if the movement

is available, the error may not occur.

• A figure similar to the current one is selected as the robot figure when CP

control is executed. Therefore, even if you designate the robot figure with a

Type P or Type T variable, the figure may not become the one designated. If

the figure is different from the figure designated, a warning “601C change

figure” may occur.

• If you execute the first motion command in a program with CP control the,

motion may not be available depending on the robot position. PTP control is

recommended for the first motion command in the program.

3.3.3 Arc Interpolation Control

Arc interpolation controls interpolation so that the path to reach the motion

destination position will be an arc.

Fig. 3-24 shows an example of motion by arc interpolation control.

If you designate “C” for designation of the interpolation method with the motion

control command, the robot executes an arc interpolation motion.

The motion path

becomes an arc.

Fig. 3-24 Arc Interpolation Control Motion

• When arc interpolation control is executed, the robot cannot simply move to

the position of a different figure from the current figure in the same manner

as in CP control. If you designate a different figure, an error of “607F robot

figure mismatch” may occur. However, if the movement is possible, the error

may not occur.

• A figure similar to the current one is selected for the robot figure when arc

interpolation control is executed. Therefore, even if you designate the robot

figure with a Type P and Type T variable, the figure may not become the

one designated. If the figure is different from the figure designated, a

warning “601C change figure” may occur.

• If you execute the first motion command in a program with arc interpolation

control, the motion may not be available depending on the robot position.

PTP control is recommended for the first motion command in the program.

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