Installation manual

Chapter 6 Programming

6-64

The redundant axis control mode can be chosen on account of RMRC control. But,

depending on a redundant axis control mode to choose, each axis value for the restriction

data

– a parameter of “pa_odr_dpd” – has a different significance.

＜Redundant axis control mode＞

[No restriction] ：For all axes restrictively controlled by 0.0[deg], a provided axis value

for the restriction data is ignored.

[All axes restriction] ：All axes are restrictively controlled by a provided axis values for

the restriction data.

[S3-axis restriction]：In this mode, axis value means the one for the restriction data

when “pa_odr_dpd” is issued. The S3-axis is controlled by a S3 restriction axis value

inside the axis values for restriction data. For this reason, a movable angle issued within

a cycle has to be taken into account. Other axis values (except S3 axis value) for

restriction data are ignored and restricted to 0.0[deg].

[S3-axis interpolation]：In this mode, axis value means the target angle of S3-axis when

“pa_odr_dpd” is issued. The S3-axis is controlled by a S3 restriction axis value inside

the axis values for restriction data. For this reason, a movable angle issued within a

cycle has to be taken into account. Other axis values (except S3 axis value) for

restriction data are ignored.

[S3-axis fixation]：S3 axis angle is maintained as it is when RMRC real-time control was

started. For this reason, provided axis value for the restriction data is ignored.

Program Description: For 7-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 Chooses the redundant axis control mode.： pa_mod_jou

If not setting this mode, the prior set redundant axis control mode becomes available.

⑤ 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 within time-out.

7- axis arm functio