Yaskawa

Cartesian trajectories for the Yaskawa Motoman robots

Vendor specifics

Teach pendant	Teach panel (programming pendant)
Programming / simulation software	Partly PLC support
Software	Customization of teach pendant: C++ and C#
Programming language	INFORM
Relevant hardware	Controllers YRC1000, DX100, NX100 and probably others.

Further reading

• operator’s manual (YRC1000)
• inform language (YRC1000)
• on blending
• on circles and splines

Trajectory composition

Teaching trajectories is done on the basis of a point-2-point approach with different motion (interpolation) types:

• Linear Cartesian motions

  MOVL

  • For linear motion to the point

• Circular motions

  MOVC

  • For circular motion with three points for each arc

• Joint space interpolation

  MOVJ

  • For joint-interpolated motion to the point

• Additional

  MOVS

  • For spline motion with parabolic interpolation between three points

  IMOV

  • For incremental linear motion, starting from a point

There are also application specific routines that help in the process of trajectory programming while teaching points. These routines may include additional sensors, such as force-torque sensors for approaching surfaces or contour following. The final obtained trajectories, however, are still built with basic motion types.

Waypoint representation

Individually taught points have the following representation:

X
Y
Z
Rx (roll)
Ry (pitch)
Rz (yaw)

Different coordinate systems for point representations are possible.

Trajectory parameterization and execution

Specification of velocity

• Point-level: Execution speeds are taught on a per-point basis, applied from the previous to the current point, respectively. As an example, the speed taught at point P2 is applied from point P1 until P2. Users can also adjust speed as a percentage to the trajectory-global play speed.
• Trajectory-global: Users can choose and adjust different execution speeds on a discrete scala with the SPEED instruction

Specification of acceleration

• Point-level: Users can adjust acceleration ACC and deceleration DEC as adjustment ratios in the range of 20% - 100% for each point

Blending

• Is done with setting a position level (PL) incrementally for MOVL points, with PL from 0 = no bending radius to 8 = max. bending radius

Parallel IO operations

• Due to synchronous execution, users apply IO operations immediately before/after move instructions.

Online (real-time) trajectory modifications

• No information found so far