Installation manual

Chapter 7 Library Reference
7-
5
PA library Data Structure （for Windows Visual C++）
・Teach data structure:
typedef struct {
float agl[7]; S1 axis value
S2 axis value
S3 axis value
E1 axis value
E2 axis value
W1 axis value
W2 axis value
float ｖｅｌ[2]; Tip linear motion velocity[mm/sec]
Axis /Tip rotational motion velocity [rad/sec]
long atr[12]; Teach data type：PTP／PTP(NOAP)
Interpolation method：Axis/Straight line/Circle/Arc
Axis control arm stop accuracy[]
RMRC control arm stop accuracy []
Velocity interpolation pattern：Constant
velocity/start up/shutdown/start up +
shutdown
Start up time : Acceleration time designation[msec]
Shutdown time : Deceleration time designation [msec]
JUMP data number : Number specifying JUNP
condition
DO output
Waiting time : Motion start delay time[msec]
}PNTPNT, *PNTPNTP;
typedef struct {
PLYPNT pnt;
char cmt[32]; Comment
} PLAY, *PLAYP;
typedef struct {
float xyz[3]; Position : Arm XYZ coordinate [mm]
float noa[3][3]; Position ：Arm NOA
} NOAP, *NOAPP;