Installation manual

Chapter 6 Programming
6-60
６．８．２ RMRC Real-time Control Mode
Providing each axis value for restriction data and T-matrix indicating the target position/
orientation every 2msec or more cycles, the axis angle (feedback) control is performed
without interpolation.
RMRC Axis Real-time Control Mode:
The advantage of this real-time control mode is to receive a 2 msec command. To send
this command every 2 msec, it is needed to take into account the timing when the PA
library (pa_odr_axs、pa_odr_dpd) is issued and when the motion control section should
obtain the PA library.
RMRC
Deviation
or Playback
Teach Data
Tool
offsetCoordinate
conversion
Target
Position/
Orientation
Target value
calculation
Interpolation
Processing
Target
Position/
Orientation
Joint Angle
Coordinate
conversion
Axis
Velocity
Command
Current
Axis Angle
Current
Position/
orientation
+
-
< Motion Control> >
<Operation Control> <ServoDriver>
Control cycle = 2[ms]
When in RMRC Real-time Control
Remark