Installation manual

Chapter 8 PA Library
8-33
ｐａ＿ｓｅｔ＿ｐｎｔ
Function
Sets the teach point attribution.
Syntax
long pa_set_pnt(ARM armno, PNTATTR pattr, long* ldat, float fdat)
armno Arm number (No.)．
pattr Designates attribution altered, with “enum PNTATTR”.
ldat Attribution altered
fdat Attribution altered
Explanation
Attribution designated by current point: “armno” has to be set in “ldat” or “fdat”.
・PA_CHGVEL ：Alters playback linear velocity.
“fdat” dimension: [mm/sec]
・PA_CHGWAIT： Alters playback waiting time. “ldat[0]” dimension: [msec]
・PA_VELPTN ： Alters teach data velocity interpolation pattern.
ldat[0] shows velocity pattern.
ldat[1] shows start up time [*10mSec]
ldat[2] shows start up time [*10mSec]
・PA_ROTVEL ： Alters playback rotational velocity.
“fdat” dimension: [rad/sec]
・PA_AXSACC： Alters each axis accuracy. “fdat” dimension: [deg]
・PA_RMRCACC： Alters straight line accuracy. “fdat” dimension: [mm]
・PA_JUMPID： Alters JUMP numbers. Setting at ldat[0].
For teach data format, refer to programming manual.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Description example
long i,ldat[3];
for(i=0;i<3;i++) ldat[i]=0;
:
pa_chg_pnt(ARM1, PM_JMP, 3);.. Moves the teach point pointer to the 3
rd
teach
point.
pa_set_pnt(ARM1, PA_CHGVEL, ldat, 1.2f); .. Changes 3
rd
teach point velocity to
1.2[mm/sec].
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e