Installation manual

Chapter 6 Programming
6-78
６．１０．２．１ Current Point Alteration
（１）Active teach data alteration
Among plural teach data, to choose the teach data intended to work, the active teach
data has to be altered as follows:
Active teach data alteration ： pa_chg_key
Designation Instructions
Active teach data
alteration
The teach data retaining the designated teach data “Key”
is defined as the active teach data.
Important exception:
Teach data is usually created from 1. If teach data is
newly created, active teach data has to be set 0. Later
on, if teach data is acquired, the motion control creates
teach data “Key” which does not overlap with this
acquired one (one point teach data). Then, it is added to
the teach data control list.
（２）Current teach data alteration
If each teach point attribution is altered or intending to designate playback starting point,
its operation has to be performed after altering the current teach point. Methods to alter
the cuurent teach point are as follows:
(With the current teach point alteration, the real machine cannot be actualized. Also,
this teach point cannot be changed during playback performance.)
On the current point shifting, for parameter: “PNTMOVE” of “pa_chg_pnt”, there are the
following types:
Current teach point alteration ： pa_chg_pnt（，PNTMOVE、）
Designations Details
PM_TOP
（Top teach point）
Teach point placed at the top of teach data is defined as the
current teach point.
PM_BTM
（Last teach point）
Teach point placed at the bottom of teach data is defined as
the current teach point.
PM_NEXT
（Next teach point）
Teach point placed next to the current teach point is defined
as the current teach point.
PM_PRIV
（Prior teach point）
Teach point placed prior to the current teach point is defined
as the current teach point.
PM_JMP
（Designated ID）
Teach point retaining the designated teach point ID is defined
as the current teach point.
(Designated
comment)
Teach point retaining the designated comment is defined as the
current teach point.