Installation manual

Chapter 6 Programming
6-62
Program Description: for 6-axis arm
① Sets the time-out. ：pa_set_tim
The default time-out is 1000 msec. This time can be issued only when it needs to be
altered.
② Controls to the RMRC controllable position/orientation (each axis angl).：pa_exe_saf
③ Initializes the target position/orientation.： pa_odr_dpd
If there is not a current target position/orientation, loads and sets the current ones.
④ Sets the RMRC real-time control mode.： pa_mod_dpd
Here comes the RMRC real-time control mode.
After issuing this PA library, until the RMRC real-time control mode is completed, the
command (pa_odr_dpd or pa_chk_cnt) has to be issued.
⑤ Designates the target tip position/orientation： pa_odr_dpd
For the target value is 2msec cycle, commands should be taken into account the
RMRC limit velocity (both position and orientation).
ERR_RMRC_X X-axis synchronization error in RMRC control
ERR_RMRC_Y Y-axis synchronization error in RMRC control
ERR_RMRC_Z Z-axis synchronization error in RMRC control
⑥ Terminates the RMRC real-time control mode.
The RMRC real-time control mode is terminated by the brake-stop (pa_stp_arm) or the
temporary stop (pa_sus_arm).