Installation manual

Chapter 6 Programming

6-91

６．１１．５ Playback control with teach data and other types.

As described before, there are four teach data types.

The following explains t playback control type to be performed If these four data are put

together to employ:

① If PTP straight line and PTP axis interpolation data are put together to employ:

When PTP straight line and PTP axis interpolation data are adjacent, here is how to

know which is RMRC feedback control or axis angle feedback control:

Teach data

○：PTP straight line interpolation data

●：PTP axis interpolation data

Trajectory

：RMRC (feedback) control ［includes position/orientation interpolation］

：Axis (feedback) control ［includes axis interpolation］

：Data to stop arm motion with step transmission (forward step, reverse step).

Feedback control system depends on an early number data type as follows:

In this system, forward and reverse obtain the same result.

② If circle and arc are together to employ:

Here, how the arm stops if step transmission (pa_ply_pnt(ARM0, PB_FORES or

PB_BACKS, WMWAIT) is performed when PTP circle and arc interpolation data are

together to employ:

： Data to stop arm motion with step transmission

Circle

Arc

<6>

<3><2> <1>

<10> <9>

<5>

<4><3><1> <2>

<6>

1 2