xdSPLPASSNUM
(Library)
[Version 2.3 or later]
Obtains the viapoint through which the free line has passed.
xdSPLPASSNUM (<Viapoint number>)
For free curve motion in progress, the robot sets the viapoint number through which the command value has passed to the <Viapoint number>.
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PROGRAM PRO1
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TAKEARM
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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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MOVE S, 5, NEXT
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'Executes free curve motion to move to J5
'through P4 and P1.
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DELAY 500
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CALL xdSPLPASSNUM(I1)
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'Sets the passed viapoint number to I1.
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