Installation manual

Chapter 6 Programming
6-75
（４）Teach Point Control
How to control teach data in the motion control program:
One teach data consists of plural teach points. Here it is shown how each point
composes teach data.
・Teach data consists of six teach points.
・Three of these points have circle or arc attribute.
Top teach point Teach point attribute
Circle & arc address
Prior point address
Next point address
Teach point attribute
Circle & arc address
Teach point attribute
Prior point address Circle & arc address
Teach point attribute
Next point address Prior point address Circle & arc address
Next point address Prior point address
Teach point attribute
Next point address
Circle & arc address
Prior point address
Next point address
Last teach point
Teach point attribute
Circle & arc address
Prior point address
Next point address
Teach data control provides address data of before/after teach point to create smooth
motion between points. On this address data, for top teach point, the prior point address
is 0. For the last teach point, the next point address is 0.
On circle and arc, to pass through the second and third teach point, these are linked
adjacent to the first point.
The current teach point can be set at the top and the last teach point, or at the place
indicated with .
(For this reason, the circle and arc second and third point cannot be the current point.)
Remark