Installation manual

Chapter 6 Programming

6-93

Difference whether the circle and arc can be stopped at the last data or not.

With this difference the following happens:

For example:

The arc is stopped at teach data 3. Current point <3>

Issuing “pa_ply_pnt(ARM0, PB_FORES, WM_WAIT” three times. Arm is moved to

teach data 7. Current point <7>

・After issuing “pa_chg_pnt(ARM0, PM_PRIV, 0)” (the current point is returned to the prior

teach data.) or “pa_chg_pnt(ARM0, PM_JMP, 4)” (the current point is changed to the

teach data 4), if arm is moved to the current point with “pa_mov_pnt、pa_axs_pnt”:

Arm is stopped at the teach data 4. (arc 1

point)

・If “pa_ply_pnt(ARM0, PB_BACKS, WM_WAIT)” (reverse step) is issued:

Arm is stopped at the teach data 6. (arc 3

point)

For circle, the same result is obtained.

Arc

<7>6<4>

<3>

Remark