Installation manual

Chapter 6 Programming
6-72
６．１０．１ Teach Point & Teach Data Control
How to manage teach data in the teach data structure and the motion control
program:
（１） Teach point attribute
The teach point is the minimum unit of arm data needed to perform playback processing.
Its attributes are shown below. Teach point data is initialized with appropriate value
when teach points. are created. Then, it is processed and corrected by users.
Teach point attribute ： Structure PNTDAT
Structure Model Name Contents
float S1 angle S1 axis angle [rad]
float S2 angle S2 axis angle [rad]
float S3 angle S3 axis angle [rad]
float E1 angle E1 axis angle [rad]
float E2 angle E2 axis angle [rad]
PLAY float W1 angle W1 axis angle [rad]
float W2 angle W2 axis angle [rad]
float Linear motion velocity Linear motion velocity [mm/sec]
float Orientation、angle
Motion velocity
Angular motion velocity when in axis
control, orientation velocity when in
RMRC control [rad/sec]
long Data type PTP：１、PTP（with NOA）：２
long Interpolation method Axis, linear, circle, arc
long Velocity type Rated velocity, acceleration,
deceleration, acceleration/deceleration
long Waiting hour Motion-start delay time [msec]
long Serial numbers Serial numbers setting the primary teach point as
1.
long ID number User setting discrimination number
long JUMP data Number Numbers specified JUMP conditions
long DO output Digital output for outer operation
long Accuracy Arm-stop accuracy
＊２
long Start-up time Acceleration time designation
＊３
long Shutdown time Deceleration time designation
＊３
long Spare Not yet used
char*32 comment Comment with muximum 32 letters
NOAP float*3 Position
＊１
Arm XYZcoordinate system [mm]
float*3*3 Orientation
＊１
Arm NOA
＊１
Position and orientation data are created, only, when data type is PTP (with NOA).
＊２
On arm-stop accuracy, lower 16bit for axis motion attribution teach point and for
upper
16bit motion attribution teach point, are used.
＊３
If velocity type is acceleration & deceleration/acceleration/deceleration, each type
refers to a necessary start-up and shut-down time attributions. If this attribute is “0”,
start-up time and shut-down time in parameter are used.