Basic Characteristics RAPID

Motion and I/O Principles Positioning during Program Execution
position, which generally means that the programmed position is never reached. The
beginning and end of this corner path are defined by a zone around the programmed
position (see Figure 17).
Figure 17 A fly-by point generates a corner path to pass the programmed position.
All axes are coordinated in order to obtain a path that is independent of the velocity.
Acceleration is optimised automatically.
2.3.1 Joint interpolation in corner paths
Start point
The zone for the path
of the TCP
Corner path
Programmed
position
The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 18). Since the interpolation is performed axis-by-axis, the size of the zones (in
mm) must be recalculated in axis angles (radians). This calculation has an error factor
(normally max. 10%), which means that the true zone will deviate somewhat from the
one programmed.
If different speeds have been programmed before or after the position, the transition
from one speed to the other will be smooth and take place within the corner path
without affecting the actual path.
Programmed
fly-by point
Zone
Corner path
Destination point
Figure 18 During joint interpolation, a corner path is generated in order to pass a fly-by point.
RAPID Reference Manual 6-17