Installation manual
Chapter 6 Programming
6-109
《Offset trajectory if PTP axis interpolation data is included in teach data》
As described before, offset control is available when in playback during RMRC feedback
control. At brake-stop status, when in playback during axis feedback control, offset
control is not available. Therefore, if PTP axis interpolation data is together with teach
data, be aware: the trajectory after offset addition will be as follows:
If PTP axis interpolation data is included in teach data, between forward playback and
reverse control, playback trajectory may be different after offset addition. With teach
data including only PTP axis interpolation data, offset cannot be added.
Forward playback Reverse playback
Example 1
Example 2
Example 3
Example 4
・・・ Teach data after offset value addition
・・・ Teach data (PTP linear interpolation data)
・・・ Teach data (PTP axis interpolation data)
・・ Playback trajectory + offset value (RMRC feedback control)
・・ Playback trajectory
・・ Playback trajectory + offset value (axis feedback control)
・・ Playback trajectory
32 1
32 1
32 1
32
1
32
1
3 2 1
3 2
1
3 2 1