Installation manual

Appendix 3
Appendix 3-1
Appendix 3
Control restart function after temporary stop during playback control
If PA library is issued while in temporary stop (pa_sus_arm) during playback control, two options
for playback control can be possible either to restart or not.
・Playback control restart: possible
With temporary-stop release (pa_rsm_arm), playback control can be restarted.
・Playback control restart: impossible
On account of playback control termination, playback control cannot be restarted with
temporary-stop release (pa_rsm_arm).
When intending to perform playback control again, if it is needed, after altering
(pa_chg_pnt) the current point, move (pa_mov_pnt) to the current point, start playback
control.
There are two playback controls: the one is in RMRC feedback control and the other one, in axis
feedback control. Even if issuing the same PA library, on account of a different feedback system,
control restart might not work..
Table for PA library function issuing after temporary stop in playback control and playback
control restart possibility.
＜Playback control restart function in PA library issued after temporary stop＞
Playback
Restart
Function Function
Possible
Not
possible
Remarks
pa_chg_pnt Teach point pointer alteration ○
pa_add_pnt Teach point addition ○
pa_del_pnt Teach point deletion ○
pa_rpl_pnt Teach point replacement ○
pa_set_pnt Teach point attribution setting ○
pa_set_idn Teach point ID_No. setting ○
pa_chg_dio Teach point (PTP) DO attribution setting ○
pa_get_pnt Current point teach point information loading ○
pa_get_cpt Current point circle (arc) teach data loading ○
JM_OFF :No restriction ○
JM_ON :All axes restricted ○
○ RMRC feedback control
JM_S3ON:S3 axis restriction
○ Axis feedback control
○ RMRC feedback controlJM_S3DIV:
S3 axis interpolation
○ Axis feedback control
pa_mod_jou
Redundant
axis control
mode
setting
JM_S3HOLD:S3 axis fixed ○
pa_set_hom Home position setting ○
pa_set_esc Escape orientation setting ○
pa_set_saf Safety orientation setting ○
pa_def_hom Current axis value defined as home
position
○
pa_def_esc Current axis value defined as escape
position
○
pa_def_saf Current axis value defined as safety
position
○
RMRC feedback control
pa_set_tol Tool information setting
○ Axis feedback control
pa_set_vel Default velocity alteration ○