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15.4.5 Drag and replay

15.4.5.1 ReplayPath

Explanation	It is used to replay the recorded trajectory using drag teaching. You can control the running rate during replay. Note: If the velocity of the recorded drag trajectory is too high and the replay rate is set too high, it is easy to trigger servo alarms and damage the machine. It is recommended to gradually increase the replay rate from low velocity.
Definition	ReplayPath( path [, rate] [, wobj/tool] ); Path, data type: path, type of drag and replay path, which is defined in the path list generated by drag teaching. Rate, data type: double, replay percentage, range: 0.01−3.00. 0.01 means replay at 1% running rate when dragging; 1.00 at 100% running rate; and 3.00 at 300% running rate. wobj/tool, data type: tool/work object, to specify the end-effector for the replay command to be a tool or work object. During the replay, the robot will change the replay control parameters according to the tool of the corresponding device to improve the operating stability
Example	Example 1 ReplayPath(path , 1, tool1); Use the original running rate to record and replay.