Installation manual

Chapter 6 Programming
6-83
６．１０．４ Playback motion (step operation) start
Four methods for a playback control (check-up operation) start are as follows:
Playback starting methods ： pa_ply_pnt（ ,PLAYBACK,, ）
Designations Instructions
PB_FORES
(Forward step operation)
Motion is created using teach point attributes (velocity,
velocity pattern etc.) of the current teach point, from the
current teach point to the next one.
When this motion is completed, the current teach point is
changed to the next one.
PB_BACKS
(Reverse step
operation)
Motion is created using teach point attributes (velocity,
velocity pattern etc.) of the prior teach point from the current
teach point to the prior one.
When this motion starts, the current teach point is changed to
the previous one.
PB_FORE
(Forward consecutive
operation)
Motion is created backwards from the current teach point.
This motion continues until returning again to the top teach
point after passing through at certain designated times. The
current teach point is changed every time when the teach
point is passed through while in motion.
For example, if teach points are ①, ② and ③, the current
point is ①, the designated time is once:
①－②－③－①
if the designated times are twice:
①－②－③－①－②－③－①
if the current teach point is ② and the designated times are
twice:
②－③－①－②－③－①
(ATTENTION! The top ① point is passed through only once.)
Teach data playback is always completed at the top teach
point. For more, refer to “JUMP rule” in the section 8.8.
PB_BACK
(Forward check-up
operation)
Playback is performed with forward consecutive operation
from the current teach point to the last teach point. If
JUMP condition is established, not only JUMP performs, but
also this operation is completed at the last teach point of
each teach data.