Installation manual

Chapter 6 Programming
6-98
Example: for Visual C++
MATRIX mat;
int i,j;
：
pa_add_pnt(ARM0, PT_PTP); PTP linear interpolation data acquisition
：
pa_add_pnt(ARM0, PT_PTP); PTP linear interpolation data acquisition
for(i=0;i<3;i++){
for(j=0;j<3;j++){
if(i==j) mat[i][j] = 1.0;
else mat[i][j] = 0.0;
}
}
mat[0][3] = 250.0; △Ｘ＝ 250.0
mat[1][3] = -100.0; △Ｙ＝-100.0
mat[2][3] = 0.0; △Ｚ＝ 0.0
pa_set_mtx(ARM0, mat); Conversion matrix setting
pa_chg_pnt(ARM0, PM_TOP, 0); Current point alternation
pa_mov_pnt(ARM0, WM_WAIT); Moves to the current point.
pa_ply_pnt(ARM0, PB_FORE, WM_WAIT);
Playback control starts
(Parallel motion conversion matrix control is performed.)