Installation manual

Chapter 6 Programming
6-86
６．１１．２ PTP arc interpolation data & playback control
When in acquisition, if teach data type arc is designated, it is memorized as PTP arc
data.
PTP arc data:
PTP arc 1
st
point data :<P1>
PTP arc 2
nd
point data:<P2>
PTP arc 3
rd
point data:<P3>
These three constitute one block.
In playback control, the tip is interpolated to create the arc trajectory passing through
three points. The motion direction is from <P1> to <P2>, then, <P3>. From <P1> to
<P3>, this interval is interpolated equally for orientation.
Example: for Visual C++
＜Teach data acquisition＞
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_ARC1); PTP arc 1
st
data acquisition
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_ARC2); PTP arc 2
nd
data acquisition
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_ARC3); PTP arc 3
rd
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 arc interpolation data
Interpolation data
Ti
p
motion
P2
θ
1
P1
r
0
P3
Vec
Orientation rotation angle: θ
2
P3
P1