Installation manual

Chapter 6 Programming
6-18
（４）Tip Position/Orientation/velocity Control
Method to control providing linear motion velocity (Vx, Vy, Vz) and rotational
velocity (Vyaw, Vpitch, Vroll.) on each coordinate axis in the selected coordinate
system
For further information, refer to “Velocity Control” in the section 6.6
（５）Current Point Motion Control (Tip Linear motion)
Shifts, interpolating the tip position/orientation linearly with the RMRC control to
the current point.
For further information, refer to “shift to the current point” in the section 6.10.3
（６）Playback Control
The playback control is performed using teach data acquired in various control
situations.
For further information, refer to “Playback Control” in the section 6.10 ~ 6.11
（７）RMRC Real-Time Control Mode
The control method providing target axis angles and T-matrix indicating the target
tip linear motion and rotation in the maximum 1000msec cycle.
For further information, refer to “Real-Time Control” in the section 6.8
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