Installation manual

Chapter 6 Programming
6-92
６．１１．６ Differences between current point operation and playback control
Here are the differences when the current point is operated with pa_chg_pnt – without
moving arm – and when the current point is operated with pa_ply_pnt – moving arm–.
If the current point is operated with ・pa_chg_pnt:
As described before, the only number (closed with < >) being able to be the current
point can be changed. To summarize, after changing the current point with pa_chg_pnt,
motion control (pa_mov_pnt、pa_axs_pnt) is performed to the current point. Data to stop
arm are the only ones where flags are located below.
If the current poimt is operated with forward and reverse step of ・pa_ply_pnt.
Playback step control
pa_ply_pnt(ARM0, PB_FORES, WM_WAIT) ：forward
pa_ply_pnt(ARM0, PB_BACKS, WM_WAIT) ：reverse
Arm motion can be stopped only by data where flags are located.
12
10
<11>
Arc
Circle
9
Arc
<8>
13
8`
<16><15> <14>
5
<1>
<7>
6
<4>
<3>
<2>
10
12
<11>
Arc
Circle
9
Arc
<8>
13
8`
<16><15> <14>
5
<1>
<7>
6
<4>
<3>
<2>