Installation manual

Chapter 8 PA Library
8-36
ｐａ＿ｖｅｌ＿ｐｎｔ
Function
Alters all teach data interpolation velocity in playback control.
Syntax
long pa_vel_pnt(ARM armno, float vgain)
armno Arm number (No.)．
vgain Interpolation velocity alteration gain
Explanation
Alters arm playback interpolation velocity designated by “armno”.
Velocity of all data with PTP interpolation is corrected.
PTP interpolation velocity in playback control is the shifting time calculating from
shifting value created from tip linear motion velocity: Vxyz and tip rotational motion
velocity: Vypr.
△Txyz＝△XYZ／Vxyz
△Typr＝△YPR／Vypr
Larger one is selected.
Selected velocity (Vxyz or Vypr) is altered by “vgain”.
If “△Txyz ＞ △Typr”,
Vxyz = Vxyz*vgain
Velocity is interpolated on the basis of “Vxyz”.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_get_pvl Playback velocity coefficient information acquisition