Appendix-676 Spline interpolation
7Appendix
By clicking the [Next] ([Previous]) button, the target path point changes to the next (previous) point.
By clicking the [Move] button, the robot moves to the selected path point position (including offset amount)
with the specified interpolation movement.
* With RT ToolBox2 Ver. 3.40S or later, the offset amount can be selected from the offset amount in the
world coordinate system, and offset amount in the tool direction.
The robot moves at the same speed as that for the actual system, and therefore a
safety check should be conducted around the robot
Always use the robot in such a way that the EMERGENCY STOP button can be
pushed at any time.
If the applicable project is in offline mode, the [Position jump] button does not appear. (Similarly, [Tool] →
[Position jump] cannot be clicked on the menu.)
(4) Parameter SPLOPTGC
The robot's control characteristics applied when moving with spline interpolation can be adjusted with
parameter SPLOPTGC.
Usually it is not necessary to change the value from the default setting value.
For the movement path at the curve section, to further improve the inner turn in respect to the command,
increase the setting value. When the setting value is increased the path accuracy may be improved.
Conversely, to suppress robot sway or vibration, reduce the setting value. The state may be improved.
Table 7-20:Parameter SPLOPTGC
Parameter
Parameter
name
No. of arrays
No. of characters
Detailed explanation
Factory
setting
Gain
compensation rate
for active gain
control
SPLOPTGC Integer 1 The robot's control characteristics (servo responsiveness) during
spline interpolation can be adjusted. The path accuracy may be
improved if the setting value is increased, and the vibration may
be suppressed if the setting value is decreased.
The setting range is 1 to 200[%].
* If the value is too large, the motor may oscillate or the robot
may vibrate. Conversely, if the value is too small, the robot may
not move and a servo error may occur. Change the value
gradually while confirming the behavior, and set the value within
a range that does not cause a problem.
* This does not function unless the force sensor control is valid.
* The power does not need to be reset after setting this
parameter.
100
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