10.4.3.17. CalViaPs

10.4.3.17. CalViaPs

 

This saves the pose value to the pose variable considering the location and position in arbitrarily number of times by dividing the distance between the start location and target location evenly.

 

Explanation	CalViaPs (Calculate Via Points) passing point calculation command
Grammar	CalViaPs <Start pose>,<End pose>,<DivNo=Number of divisions>, <CntNo=Counter>,<Output pose>
Parameter	Start pose	Start location
	End pose	Target location
	Number of divisions	It can be divided between 1 and 30000 The number of division cannot be 0.
	Counter	It can be entered between 0 and 30000 Start pose is 0.
	Output pose	Save the calculated pose. The config value of created pose variable is undesignated and the additional axis is considered.
Example	V10%=100 FOR V2%=1 TO 10 CalViaPs P1,P2,DivNo=10,CntNo=V2%,P[V10%] MOVE P,P[V10%],S=300mm/sec,A=0.T=0 V10%=V10%+1 NEXT END

 

 

Figure 10.9 P3 work location

 

 

For example, for CalViaPs P1,P2,DivNo=3,CntNo=2,P3,

Divide the distance from P1 start location to P2 target location evenly in 3 divisions and save the pose value considering the location and position of designated 2nd pose to the P3 pose variable.