Installation manual

Chapter 3. CONTROL MODE
３－4
（５）Direct Control (Optional function)
After switching on the torque control and releasing the brake, this direct control is for
the manually arm operation mode.
This control mode memorizes each axis data as the teach (PTP) data when an arm is
operated manually. It revives the movements through the playback control.
・Simple weight compensation control
Programming is explained in section 6-7.
（６）Playback Control
This playback control is managed by continuous teach data (each axis value or NOAP)
Between a non continuous teach data the playback control will be interpolated
adjusting the data types.
Teach data 1 （ θ
Ｓ１１
，θ
Ｓ２１
，･･･ θ
Ｗ２１
）
Teach data 2 （ θ
Ｓ１２
，θ
Ｓ２２
，･･･ θ
Ｗ２２
）
：
Teach data n （ θ
Ｓ１ｎ
，θ
Ｓ２ｎ
，･･･ θ
Ｗ２ｎ
）
The teach data is as follows:
・PTP for axis interpolation each axis（θ
Ｓ１
～θ
Ｗ２
）data
・PTP for linear interpolation each axis（θ
Ｓ１
～θ
Ｗ２
）data
・PTP for arc interpolation each axis（θ
Ｓ１
～θ
Ｗ２
）data
・PTP for circle interpolation each axis（θ
Ｓ１
～θ
Ｗ２
）data
・PTP for linear interpolation tip（ＮＯＡＰ）data
・PTP for arc interpolation tip（ＮＯＡＰ）data
・PTP for circle interpolation tip（ＮＯＡＰ）data
Interpolation methods are as follows:
・Axis angle interpolation
・Tip linear interpolation
・Tip arc interpolation
・Tip circle interpolation
Interpolation methods are explained in the section 3.2 – 3.5.
Programming is explained in the section 6.10 and 6.7.
The teaching data is the PTP data. The PTP data is the abbreviation for
“Point to Point”. The trajectory between different data is haphazard. But
when the playback control is operated, the interpolation has to be surely
performed between different PTP data.
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