xdSPLClrTakeArm
(Library)
[Version 2.3 or later]
Changes the validity of free curve viapoint clear process execution during TakeArm.
xdSPLClrTakeArm (<Set value>)
If the <Set value> is 0, the viapoint of the free curve during TakeArm is not cleared.
If the <Set value> is a different value, the viapoints of the free curve during TakeArm are cleared.
In the initial state after controller power on, free curve viapoints are cleared during TakeArm. To register the free curve notion viapoints other than by the free curve motion program (for registration by the intialization program), set by CALL xdSPLClrTakeArm(0) so as not to clear the viapoints for the free curve during Take Arm.
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PROGRAM INITIAL
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CLRSPLINEPOINT 5
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'Clears all viapoints for the free curve
'with trajectory 5.
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SETSPLINEPOINT 5, P4
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'Sets P4 as the first viapoint for the free
'curve with trajectory 5.
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SETSPLINEPOINT 5, P1
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'Sets P1 as the second viapoint for the free
'curve with trajectory 5.
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SETSPLINEPOINT 5, J5
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'Sets J5 as the third viapoint for the free
'curve with trajectory 5.
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CALL xdSPLClrTakeArm (0)
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'Does not clear the viapoints of the free
'curve during TakeArm.
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