Installation manual

Chapter 8 PA Library
8-30
・PT_POS ： Adds PTP linear interpolation NOAP data after the current point.
The current point becomes the added teach point.
･PT_BPOS ： inserts PTP linear interpolation NOAP data before the current
point.
The current point becomes the added teach point.
・PT_ARC4 ： Adds the arc 1
st
point with NOAP data.
The current point becomes the added teach point.
・PT_ARC5 ： Adds the arc 2
nd
point with NOAP data.
The current point has to be the arc 1
st
point.
The current point becomes the added teach point.
・PT_ARC6 ： Adds the arc 3
rd
point with NOAP data.
The current point has to be the arc 2
nd
point.
The current point becomes the added teach point.
・PT_CIR4 ： Adds the circle 1
st
point with NOAP data.
The current point becomes the added teach point.
・PT_CIR5 ： Adds the circle 2
nd
point with NOAP data.
The current point has to be the circle 1
st
point.
The current point becomes the added teach point.
・PT_CIR6 ： Adds the circle 3
rd
point with NOAP data.
The current point has to be the circle 2
nd
point.
The current point becomes the added teach point.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_chg_pnt Current point alteration
pa_del_pnt Teach data deletion
Description example
:
pa_chg_pnt(ARM1, PM_JMP, 5); .. Moves the teach point pointer to the
5
th
teach point.
pa_add_pnt(ARM1, PT_PTP); .. loads PTP linear interpolation data
teach point to the 6
th
teach point.
: