Installation manual

Chapter 6 Programming
6-97
(a) Parallel motion conversion control
Parallel motion is performed through multiplying tip position/orientation (T-matrix) of
playblack trajectory created from teach data by the conversion matrix including offset
value (toward V, Y and Z) of the base coordinate system.
Program description:
① Acquires playback teach data. ：pa_add_pnt
② Sets parallel motion conversion matrix. ： pa_set_mtx
Creates T-matrix adding offset (△Ｘ，△Ｙ，△Ｚ) toward X, Y and Z in the base
coordinate system. Unit is [mm].
１ ０ ０ △Ｘ
Ｔ ＝ ０ １ ０ △Ｙ
０ ０ １ △Ｚ
③ Moves the current point to the top teach data. ： pa_chg_pnt
pa_mov_pnt
（or pa_axs_pnt）
④ Starts playback control. ： pa_ply_pnt
21
Y
4
3
65
Base coordinate
X
Z
2
1
Y
43
6
5
ΔX = 250.0[mm]
ΔY = -100.0[mm]
Base coordinate
X
Z
Trajectory after conversion
2` 1`
4`
3`
6` 5`