Hyundai HI4 User Manual

Page 226

6. System setting

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⑵ Discontinuous step / Continuous step

① Discontinuous step : It means a step to move off on the aimed step.

The move-off point is a point which the current value (feedback encoder) reaches

to the accuracy level (Bit, Distance) designated in the step.

② Continuous step : It means a step which doesn't have the move-off point.

There are steps that the cornering is possible and impossible step in the

continuous step.

⑶ Step that the cornering is possible

① The step that the cornering is possible shifts after planning the route between

two steps. The step that the cornering is possible is the same as following. There

are P(Interpolation OFF), L(Straight Line Interpolation) and C(Circular Arc

Interpolation) in the interpolation type which supports in the Hi4 controller.

The continuous system which supports the cornering in these types is L-L, L-J,

J-L, C-J, J-C and J-J.

※ Only, the step which the coordinate system changes( for example, such case as

it shifts for the direction of the positioner motive interpolation step from the

robot tool interpolation ) is excluded in the cornering step.

② The locus of L-L cornering

The L-L cornering is a method that plans the locus with a circular arc

between two locuci of continuous straight line. It corners describing the locus

of circular arc that circumscribes on the circle of accuracy range from two

straight lines and a point which is applicable to step1 in the following figure.

When replaying in the automatic mode, the locus should be checked in

advance due to shifting without reaching to designate step.

Current step interpolation

method

Next step interpolation method

Cornering

MOVE L

MOVE P

MOVE C

MOVE P

MOVE L

MOVE P

MOVE C

Pedestal tool straight line

interpolation

Pedestal tool straight line

interpolation

SMOV L

MOVE P

SMOV C

MOVE P

SMOV L

MOVE P

SMOV C

The case of continuous step except those