Installation manual

Chapter 6 Programming
6-82
６．１０．３ Moving to the current point (teach point)
Before starting playback, it is needed to adjust the current point and the arm position.
This is called the “current teach point shifting motion.”
Current teach point shifting motions are as follows:
Current teach point shifting motions
Designations Instructions
Axis shifting motion
：pa_axs_pnt
Current teach point and arm position are adjusted through
interpolation processing using current ideal target angle and
angle attribute inside teach data. For PTP data (with NOA),
this method cannot be employed to operate. (Angle data is
not reliable as the data is automatically created at the upper
point.)
RMRCshifting motion
：pa_mov_pnt
Current teach point and arm position are adjusted through
interpolation processing using the position/orientation
calculated from current ideal target angle and angle attribute
inside teach data.
RMRC shifting motion is controlled by RMRC. If the current position out of moving
range or E1 axis angle is 0, RMRC control cannot be performed. First, move to RMRC
control area, then, issue.