10.4.3.18. CalCrViaPs

10.4.3.18. CalCrViaPs

 

This saves the pose value to the pose variable considering the location and position in an arbitrary number of times by evenly dividing the circular distance consisting of the start location, passing point and target location.

 

Explanation	Statement to calculate the passing points evenly divided on a circular line consisting of the 3 input points.
Grammar	CalViaPs <Start pose>,<Passing pose>,<End pose>,<DivNo= Number of divisions >,<CntNo=Counter>,<Output pose>
Parameter	Start pose	Start location
	Passing pose	Passing location
	End pose	Target location
	Number of divisions	It can be divided between 1 and 30000. The number of divisions cannot be 0.
	Counter	It can be divided 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 CalCrViaPs P1,P2,P3,DivNo=10,CntNo=V2%,P[V10%] MOVE P,P[V10%],S=300mm/sec,A=0.T=0 V10%=V10%+1 NEXT END

 

 

Figure 10.10 P10 work location

 

 

For example, CalViaPs P1,P2,P3,DivNo=4,CntNo=2,P10,

Divide the circular distance, which consists of P1 start pose, P2 passing pose, and P3 target pose, evenly in 4 divisions and save the pose value, which considers the location and position of the designated 2nd pose, to the P10 pose variable.