Installation manual

Chapter 6 Programming
6-103
Program description:
① Acquires playback teach data. ：pa_add_pnt
② Sets T-matrix (=mat1) of teach data coordination system and T-matrix (=mat0) of
work coordination system.
： pa_set_mat
Creates T-matrix (=mat1) of teach data coordination system and T-matrix (=mat0) of
work coordination system.
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
Example: for Visual C++
MATRIX mat0, mat1;
：
pa_add_pnt(ARM0, PT_PTP); PTP linear interpolation data acquisition
：
pa_add_pnt(ARM0, PT_PTP); PTP linear interpolation data acquisition
：
（Work coordinate matrix creation ：mat0）
(teach data coordinate matrix creation：mat1)
：
pa_set_mat(ARM0, mat0, mat1); 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
(Coordinate conversion matrix control is performed.)
Example: for Visual BASIC
Dim mat0(3,2) As Single
Dim mat1(3,2) As Single
Dim ret As Long
：
ret = pa_add_pnt(ARM0, PT_PTP)
：
ret = pa_add_pnt(ARM0, PT_PTP)
：
ret = pa_set_mat(ARM0, mat0(0,0), mat1(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)