Installation manual

Chapter 7 Library Reference
7-
21
PA library data structure (for Windows Visual BASIC)
・Teach data structure:
Type PNTPNT
agl(6) As Single S1 axis value
S2 axis value
S3 axis value
E1 axis value
E2 axis value
W1 axis value
W2 axis value
vel(1) As Single Tip linear motion velocity
Tip rotational motion velocity
atr(11) As Long 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]
End Type
Type PLAY
pnt As PLYPNT
cmt As String * 32 Comment
End Type
Type NOAP
xyz(2) As Single Position: Arm XYZ coordinate [mm]
noa(2, 2) As Single Position ：Arm NOA
End Type