3 Teaching3.2 Teaching Operation3-8149235-1CDRE-CSO-A031 Spline InterpolationWhen performing operations such as welding, cutting, and applying primer, using the splineinterpolation makes teaching for workpieces with irregular shapes easier. The path of motion is aparabola passing through three points. When spline interpolation is used for teaching a robot axis, themove instruction is MOVS.Single Spline CurveWhen a single spline curve movement is required, teach the spline interpolation for three points, P1 toP3, as shown in the figure below. If joint or linear interpolation is taught at point P0, the point beforestarting the spline interpolation, the manipulator moves from P0 to P1 in a straight line.Continuous Spline CurvesThe manipulator moves through a path created by combining parabolic curves. This differs from thecircular interpolation in that steps with identical points are not required at the junction between twospline curves.When the parabolas overlap, a composite motion path is created.P2P3 P4P0 P1Automatically becomesa straight line.Interpolation Type for a Single Spline CurvePoint Interpolation Type InstructionP0 Joint or Linear MOVJMOVLP1P2P3Spline MOVSP4 Joint or Linear MOVJMOVLP0 P1P5 P6P2P3P4Identical-pointstep not requiredInterpolation Type for Continuous Spline CurvesPoint Interpolation Type InstructionP0 Joint or Linear MOVJMOVLP1toP5Spline MOVSP6 Joint or Linear MOVJMOVLStart path End path72 of 493
