Installation manual

Chapter 6 Programming
6-85
６．１１．１ PTP straight line interpolation data and playback control
When teach data is acquired, if PTP straight line interpolation data is chosen, teach
data is memorized as PTP straight line interpolation data.
Playback control of PTP straight line interpolation data is RMRC feedback control.
Between two PTP straight line interpolation data, the tip is interpolated linearly.
Example: for Visual C++
＜Teach data acquisition＞
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_PTP); PTP data acquisition
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_PTP); PTP data acquisition
:
＜Playback control＞
:
pa_chg_pnt(ARM0,PM_TOP,0); Moves the teach pointer to the top teach data.
pa_mov_pnt(ARM0,WM_WAIT); Moves to the current point.
ｐa_ply_pnt(ARM0,PB_FORE,WM_WAIT); Playback forward motion.
Trajectory:
When in acquiring teach data
When in playback
PTP straight line interpolation data
Interpolation data
<PTP straight line> <PTP st.> <PTP st.> <PTP st.><PTP st.>
Example: for Visual BASIC
Dim ret As Long
:
ret = pa_add_pnt(ARM0,PT_PTP)
:
ret = pa_add_pnt(ARM0,PT_PTP)
:
ret = pa_chg_pnt(ARM0,PM_TOP,0)
ret = pa_mov_pnt(ARM0,WM_WAIT)
ret = pa_ply_pnt(ARM0,PB_FORE,WM_WAIT)