Installation manual

Chapter 3. CONTROL MODE
３－11
7. Calculate rotation angle (θ
Ｓ３
) if S3-axis orientation from the S3-axis
angle, of the current value (P1) and the S3-axis angle of the target value
(P3). In the case of the circle, it is (θ
Ｓ３
) = 0.0 [rad] ( in the case of
circle interpolation, S3-axis DOES NOT move and make the same motion as
“S3-axis fixed”.
8. To operate the position and the orientation, the standard for interpolation
must be chosen from the position, the orientation or the S3-axis.
9. Following the selected velocity control method, interpolate and calculate the
target tip position/target orientation/target S3-axis angle of each sampling.
10. If the work coordinate conversion Matrix is designated, multiply “Ｔr
ｎ
” by
the coordinate conversion Matrix.