Installation manual

Chapter 6 Programming
6-101
Example: for Visual C++
MATRIX mat;
int i;
：
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++) mat[i][3] = 0.0;
：
T-matrix (noa section) creation
：
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 satrts
(Rotational motion conversion matrix control is performed.)
Example: for Visual BASIC
Dim mat(3,2) As Single
Dim i As Integer
Dim ret As Long
：
ret = pa_add_pnt(ARM0, PT_PTP)
：
ret = pa_add_pnt(ARM0, PT_PTP)
For i=0 to 2 Step 1
mat(3,I) = 0.0
Next i
ret = pa_set_mtx(ARM0, mat(0,0))
ret = pa_chg_pnt(ARM0, PM_TOP, 0)
ret = pa_mov_pnt(ARM0, WM_WAIT)
ret = pa_ply_pnt(ARM0, PB_FORE, WM_WAIT)