Installation manual

Chapter 6 Programming
6-88
６．１１．３ PTP circle interpolation data & playback control
When in acquisition, if circle is designated for teach data type, it is memorized as PTP
circle data.
PTP arc data:
PTP circle 1
st
point data :<P1>
PTP circle 2
nd
point data:<P2>
PTP circle 3
rd
point data:<P3>
These three constitute one block.
In playback control, the tip is interpolated to create the circle trajectory passing through
three points. The motion direction is from <P1> to <P2>, then, <P3>. Posture is fixed
at <P1> orientation.
Example: for Visual C++
＜Teach data acquisition＞
Arm motion with RMRC control
pa_add_pnt(ARM0,PT_CIR1); PTP circle 1
st
data acquisition
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_CIR2); PTP circle 2
nd
data acquisition
: Arm motion with RMRC control
pa_add_pnt(ARM0,PT_CIR3); PTP circle 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
Example: for Visual BASIC
Dim ret As Long
ret = pa_add_pnt(ARM0,PT_CIR1)
ret = pa_add_pnt(ARM0,PT_CIR2)
ret = pa_add_pnt(ARM0,PT_CIR3)
:
ret = pa_chg_pnt(ARM0,PM_TOP,0)
ret = pa_mov_pnt(ARM0,WM_WAIT)
ret = pa_ply_pnt(ARM0,PB_FORE,WM_WAIT)
P1
θ
1
0
P3
Vec
P2
Trajectory:
When in playback
PTP arc interpolation data
Interpolation data
Orientation rotation angle:θ
2
= 0
Linear motion/rotational angle:θ
1
= 2π