Installation manual

Chapter 8 PA Library
8-29
ｐａ＿ａｄｄ＿ｐｎｔ
Function
Adds the current position to the teach point.
Syntax
long pa_add_pnt(ARM armno, PNTTYPE ptyp)
armno Arm number (No.)．
ptyp Teach point addition position and data type designated by “enum PNTTYPE”.
Adds the current value as teach point with the method designating by “ptyp”.
・PT_PTP ： Adds PTP linear interpolation data after the current point.
The current point becomes the added teach point.
・PT_BPTP ： Adds PTP linear interpolation data before the current point.
The current point becomes the added teach point.
・PT_ARC1 ： Adds the arc 1
st
point.
The current point becomes the added teach point.
・PT_ARC2 ： Adds the arc 2
nd
point.
The current point has to be the arc 1
st
point.
The current point becomes the added teach point.
・PT_ARC3 ： Adds the arc 3
rd
point.
The current point has to be the arc 2
nd
point.
The current point becomes the added teach point.
・PT_CIR1 ： Adds the circle 1
st
point.
The current point becomes the added teach point.
・PT_CIR2 ： Adds the circle 2
nd
point.
The current point has to be the circle 1
st
point.
The current point becomes the added teach point.
・PT_CIR3 ： Adds the circle 3
rd
point
The current point has to be the circle 2
nd
point.
The current point becomes the added teach point.
･PT_AXS ： Adds PTP axis interpolation data retaining axis recovery attribution
after the current point.
The current point becomes the added teach point.
･PT_BAXS ： Inserts PTP axis interpolation data retaining axis recovery
attribution before the current point.
The current point becomes the inserted teach point.