Installation manual
Chapter 6 Programming
6-80
６．１０．２．２ Teach Point Addition
For teach point acquisition one of following methods has to be employed:
Teach point addition ：
pa_add_pnt（ ,PNTTYPE）
Designation Details
PTP- axis attribute addition Adds teach data with each axis attribute in PTP.
PTP- axis attribute insertion Inserts teach data with each axis attribute in PTP.
PTP-RMRC attribute addition Adds teach data with RMRC straight-line attribute
in PTP.
PTP-RMRC attribute insertion Inserts teach data with RMRC straight-line
attribute in PTP
PTP- Circle 1
st
point addition Adds teach data with RMRC circle attribute in
PTP
PTP- Circle 2
nd
point addition If the current teach point has circle attribute,
creates the second point in the circle /arc link
area of its teach point.
PTP- Circle 3
rd
point addition
If the current teach point has circle attribute,
creates the third point in the circle /arc link area
of its teach point.
PTP- Arc 1
st
point addition Adds teach data with RMRC arc attribute in PTP.
PTP- Arc 2
nd
point addition If the current teach point has arc attribute,
creates the second point in the circle /arc link
area of its teach point.
PTP- Arc 3
rd
point addition If the current teach point has arc attribute,
creates the third point in the circle /arc link area
of its teach point.
PTP-RMRC attribute addition (with NOA)
Acquires also NOAP data, when adding PTP –
RMRC attribute.
PTP-RMRC attribute insertion (with NOA)
Acquires also NOAP data, when inserting PTP –
RMRC attribute.
PTP- Circle 1
st
point addition (with NOA) Acquires also
NOAP data, when adding PTP – circle 1
st
point.
PTP- Circle
2
nd
point addition (with NOA)
Acquires also
NOAP data, when adding PTP – circle 2
nd
point.
PTP- Circle
3
rd
point addition (with NOA)
Acquires also
NOAP data, when adding PTP – circle 3
rd
point.
PTP- Arc 1
st
point addition (with NOA)
Acquires also
NOAP data, when adding PTP – arc 1
st
point.
PTP- Arc
2
nd
point addition (with NOA)
Acquires also
NOAP data, when adding PTP – arc 2
nd
point.
PTP- Arc
3
rd
point addition (with NOA)
Acquires
also
NOAP data, when adding PTP – arc 3
rd
point.
＊
”addition” and “insertion” meanings in the chart:
Addition － creates new teach point after the current teach point.
Insertion － creates new teach point before the current teach point.
If a current teach point does not exist, only, a new teach point is created.