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Chapter 7 Library Reference

PA library characteristic type definition （for Windows Visual C++）

・Playback motion classification:

typedef unsigned long PLAYBACK;

#define PB_FORES (PLAYBACK)0 Forward playback step motion

#define PB_FOREB (PLAYBACK)1 Not available

#define PB_FORE (PLAYBACK)2 Forward playback consecutive

motion

#define PB_BACK (PLAYBACK)3 Reverse playback consecutive

motion

・Teach data deletion operation classification:

typedef unsigned long PNTDEL;

#define PD_CUR (PNTDEL)0x7500 Current point teach data deletion

#define PD_FORE (PNTDEL)0x7501 Previous current point teach data

deletion

#define PD_ALL (PNTDEL)0x7502 All active teach data deletion

#define PD_ALLDATA (PNTDEL)0 All teach data deletion

・Teach data attribution alteration classification:

typedef unsigned long PNTATTR;

#define PA_CHGVEL (PNTATTR)0x7300 Linear velocity alteration

#define PA_CHGWAIT (PNTATTR)0x7301 Wait time alteration

#define PA_VELPTN (PNTATTR)0x7302 Velocity interpolation

#define PA_ROTVEL (PNTATTR)0x7303 Rotational velocity alteration

#define PA_AXSACC (PNTATTR)0x7304 Each axis precision

#define PA_RMRCACC (PNTATTR)0x7305 Straight line precision

#define PA_JUMPID (PNTATTR)0x7306 JUMP conditional number

・Teach data type classification:

typedef unsigned long PNTTYPE;

#define PT_CP (PNTTYPE)0x710 Not available

#define PT_PTP (PNTTYPE)0x7101 Loading axis value for linear interpolation

#define PT_BCP (PNTTYPE)0x7102 Not available

#define PT_BPTP (PNTTYPE)0x7103 Linear interpolation axis value insertion

#define PT_ARC1 (PNTTYPE)0x7104 Arc 1

point axis value loading

#define PT_ARC2 (PNTTYPE)0x7105 Arc 2

point axis value loading

#define PT_ARC3 (PNTTYPE)0x7106 Arc 3

point axis value loading

#define PT_CIR1 (PNTTYPE)0x7107 Circle 1

point axis value loading

#define PT_CIR2 (PNTTYPE)0x7108 Circle 2

point axis value loading

#define PT_CIR3 (PNTTYPE)0x7109 Circle 3

point axis value loading

#define PT_AXS (PNTTYPE)0x710a Loading axis value for axis interpolation

#define PT_BAXS (PNTTYPE)0x710b Inserts axis value for axis interpolation

#define PT_POS (PNTTYPE)0x710c Loading NOAP for linear interpolation

#define PT_BPOP (PNTTYPE)0x710d Inserts NOAP for linear interpolation

#define PT_ARC4 (PNTTYPE)0x710e Arc 1

point NOAP loading

#define PT_ARC5 (PNTTYPE)0x710f Arc 2

point NOAP loading

#define PT_ARC6 (PNTTYPE)0x7110 Arc 3

point axis value loading

#define PT_CIR4 (PNTTYPE)0x7111 Circle 1

point NOAP loading

#define PT_CIR5 (PNTTYPE)0x7112 Circle 2

point NOAP loading

#define PT_CIR6 (PNTTYPE)0x7113 Circle 3rd point NOAP loading