Installation manual

Chapter 6 Programming
6-89
６．１１．４ PTP axis interpolation data & playback control
When teach data is acquired, if PTP axis interpolation data is chosen, teach data is
memorized as PTP axis interpolation data. Playback control of PTP axis inerpolation
data is axis angle feedback control. Between adjacent PTP axis interpolation data, each
axis angle is interpolated.
Example: for Visual C++
＜Teach data acquisition＞
:
pa_add_pnt(ARM0,PT_AXS); PTP axis inerpolation data acquisition
:
pa_add_pnt(ARM0,PT_AXS); PTP axis inerpolation data acquisition
:
＜Playback control＞
:
pa_chg_pnt(ARM0,PM_TOP,0); Moves the teach pointer to the top teach data.
pa_axs_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
PTPaxis interpolation
data
Interpolation data
<PTP axis> <PTP axis> <PTP axis> <PTP axis><PTP axis>
Example: for Visual BASIC
Dim ret As Long
ret = pa_add_pnt(ARM0,PT_AXS)
:
ret = pa_add_pnt(ARM0,PT_AXS)
:
:
ret = pa_chg_pnt(ARM0,PM_TOP,0)
ret = pa_axs_pnt(ARM0,WM_WAIT)
ret = pa_ply_pnt(ARM0,PB_FORE,WM_WAIT)