Installation manual

Chapter 6 Programming
6-107
Program description:
① Starts playback control. ：pa_ply_pnt
The tip position offset control is available only for the teach data able to control
RMRC feedback.
② Sets a limit value when in offset value addition. ：pa_lmt_xyz
Sets offset limit value being added in every cycle, with a [mm] unit. The upper limit
value is 1/100 (one hundredth) of linear limit velocity [mm/sec]. Its unit is
[mm/10msec]. If this value is exceeded, the following warnings occur. The limit
value is replaced with the upper one.
ERR_MIS_PARAM –1051 the designated parameter value exceeds the setting
range.
③ Sets offset value and coordinate adding tip position offset. ： pa_odr_xyz
With “trans.Enable” of TRNSMAT structure (TRANSMAT trans) of “pa_odr_xyz”, sets
the designated coordinate and mode (absolute and relative deviation).
MODE_xyz ：Mechanical interface coordinate system Absolute deviation
（MODE_XYZ1 for Visual Basic）
Offset has to be set at “trans._xyz[3]”.
MODEIxyz ：Mechanical interface coordinate system Relative deviation
（MODE_XYZ2 for Visual Basic）
Offset has to be set at “trans.Ixyz[3]”.
MODE_XYZ：Base coordinate system Absolute deviation
（MODE_XYZ3 for Visual Basic）
Offset has to be set at “trans._XYZ[3]”
MODEIXYZ：Base coordinate system Relative deviation
（MODE_XYZ4 for Visual Basic）
Offset has to be set at trans.IXYZ[3].
MODE_wave：Trajectory coordinate system Absolute deviation
（MODE_WAVE1 for Visual Basic）
Offset has to be set at trans._wave[3].
MODEIwave ：Trajectory coordinate system Relative deviation
（MODE_WAVE2 for Visual Basic）
Offset has to be set at trans.Iwave[3].
For this example, with the base coordinate system absolute deviation offset control,
offset 10 mm toward X and 25 mm toward Z are added.
trans.Enable = MODE_XYZ; trans.Enable = MODE_XYZ3
trans._XYZ[0] = 100.0; trans.xyz21(0) = 100.0
trans._XYZ[1] = 0.0; trans.xyz21(1) = 0.0
trans._XYZ[2] = 25.0; trans.xyz21(2) = 25.0
for Visual C++
for Visual BASIC