Installation manual

Chapter 8 PA Library
8-25
ｐａ＿ｐｌｙ＿ｐｎｔ
Function
Performs playback control.
Syntax
long pa_ply_pnt(ARM armno, PLAYBACK pbmod, long number, long func)
armno Arm number (No.)．
pbmod Motion direction and motion method are designated by “enum
PLAYBACK.”
func Designation whether to wait or not until motion is completed.
Explanation
Performs playback motion designated by “pbmod”.
PB_FORES：Performs playback with step toward.
If data is PTP, motion continues to the next.
PB_BACKS：Performs playback with step reverse.
If data is PTP, motion continues to the next.
PB_FORE： Starts to consecutively playback forward for teach data from the
current point. Playback is performed as many as designated by the number.
If the number is designated –1, playback is infinitely performed.
This function creates motion by “func” as follows:
・Designates WM_WAIT ：does not return unless motion is completed.
・Designates WM_NOWAIT：returns without confirming motion completion.
Playback motion is available when teach data is being loaded or when teaching is
performed. However, this can be used only when the current point and the arm
position are placed together. If not, move the arm to the current point.
Playback control: method to interpolate the tip position/orientation calculated
from teach data axis value and control it.