Basic Characteristics RAPID

Positioning during Program Execution Motion and I/O Principles
p1
Sing Area\Wrist
interpolation
Linear
interpolation
p2
Joint interpolation
Figure 21 Interpolation when changing from one interpolation method to another. Linear
interpolation has been programmed between p1 and p2; joint interpolation between
p2 and p3; and Sing Area\Wrist interpolation between p3 and p4.
If the interpolation is changed from a normal TCP-movement to a reorientation without
a TCP-movement or vice versa, no corner zone will be generated. The same will be the
case if the interpolation is changed to or from an external joint movement without TCPmovement.
2.3.6 Interpolation when changing coordinate system
When there is a change of coordinate system in a corner path, e.g. a new TCP or a new
work object, joint interpolation of the corner path is used. This is also applicable when
changing from coordinated operation to non-coordinated operation, or vice versa.
2.3.7 Corner paths with overlapping zones
Sing Area\Wrist
interpolation
If programmed positions are located close to each other, it is not unusual for the
programmed zones to overlap. To get a well-defined path and to achieve optimum
velocity at all times, the robot reduces the size of the zone to half the distance from one
overlapping programmed position to the other (see Figure 22). The same zone radius is
always used for inputs to or outputs from a programmed position, in order to obtain
symmetrical corner paths.
6-20 RAPID Reference Manual
p3
Position zone Orientation zone
p4