Basic Characteristics RAPID

Positioning during Program Execution Motion and I/O Principles
2.3.2 Linear interpolation of a position in corner paths
Start point
The size of the corner paths (zones) for the TCP movement is expressed in mm (see
Figure 19).
Programmed
corner position
Corner path
Figure 19 During linear interpolation, a corner path is generated in order to pass a fly-by point.
If different speeds have been programmed before or after the corner position, the
transition will be smooth and take place within the corner path without affecting the
actual path.
If the tool is to carry out a process (such as arc-welding, gluing or water cutting) along
the corner path, the size of the zone can be adjusted to get the desired path. If the shape
of the parabolic corner path does not match the object geometry, the programmed
positions can be placed closer together, making it possible to approximate the desired
path using two or more smaller parabolic paths.
2.3.3 Linear interpolation of the orientation in corner paths
Zone
Destination point
Zones can be defined for tool orientations, just as zones can be defined for tool
positions. The orientation zone is usually set larger than the position zone. In this case,
the reorientation will start interpolating towards the orientation of the next position
before the corner path starts. The reorientation will then be smoother and it will
probably not be necessary to reduce the velocity to perform the reorientation.
The tool will be reoriented so that the orientation at the end of the zone will be the same
as if a stop point had been programmed (see Figure 20a-c).
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Figure 20a Three positions with different tool orientations are programmed as above.
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