Installation manual

Chapter 8 PA Library
8-38
ｐａ＿ｇｅｔ＿ｐｎｔ
Function
Acquires teach point attribution of current point.
Syntax
long pa_get_pnt(ARM armno, PNTDATP tea)
armno Arm number (No.)．
tea Download area for teach point attribution of current point.
Explanation
Acquires current point teach data.
tea.ply.pnt.agl[0]
～tea.ply.pnt.agl[6] S1 axis angle [rad]～W2 axis [rad]
tea.ply.pnt.vel[0] Linear velocity [mm/sec]
tea.ply.pnt.vel[1] Rotational velocity [rad/sec]
tea.ply.pnt.atr[0] Teach point type（PTP/PTP(NOAP)）
tea.ply.pnt.atr[1] Interpolation method (straight
line/circle/arc)
tea.ply.pnt.atr[2] Velocity type (Acceleration & Deceleration/
Acceleration/ Deceleration/Straight line)
tea.ply.pnt.atr[3] Waiting time [*10mSec]
tea.ply.pnt.atr[4] Serial number (not available for users)
tea.ply.pnt.atr[5] ID number
tea.ply.pnt.atr[6] DO information
tea.ply.pnt.atr[7] Accuracy
Upper 16 bit: RMRC accuracy (0-25.5[mm])
Lower 16 bit: axis accuracy (0-25.5[deg])
tea.ply.pnt.atr[8] JUMP conditional number
tea.ply.pnt.atr[9] Acceleration time [*0.01mSec]
tea.ply.pnt.atr[10] Deceleration time [*0.01mSec]
tea.ply.pnt.atr[11] Spare
tea.ply.cmt[32] Maximum 32 letters comment
tea.noa.xyz[0]～tea.noa.xyz[3] Arm X, Y and Z coordinate [mm]
tea.noa.noa[0]～tea.noa.noa[3] Arm orientation
tea.jmp.cid Number specifying JUMP condition
tea.jmp.jdg[0].cnd[0] JUMP condition
tea.jmp.jdg[0].cnd[1] Not available
tea.jmp.jdg[0].xdi DI information
tea.jmp.jdg[0].tim Time-out [mSec]
tea.jmp.jdg[0].key Teach data Key
tea.jmp.jdg[0].pid Teach point ID
tea.jmp.jdg[0].cnt Inside information
:
tea.jmp.jdg[7].cnd[0] JUMP condition
tea.jmp.jdg[7].cnd[1] Not available
tea.jmp.jdg[7].xdi DI information
tea.jmp.jdg[7].tim Time-out [mSec]
tea.jmp.jdg[7].key Teach data Key