Installation manual

Chapter 3. CONTROL MODE

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３．１ ACTUATING CONTROL MODE

Actuating control methods for PA, are provided as follows:

Also data interpolation will be performed when it operates for all modes.

・Axis angle control

・Axis speed control

・6 direction deviation control for the RMRC base coordinate system

・6 direction velocity control for the RMRC base coordinate system

・Tip coordinate matrix control for the RMRC base coordinate system

・6 direction deviation control for the RMRC mechanical interface coordinate

system

・6 direction velocity control for the RMRC mechanical interface coordinate system

・Redundant axis control for RMRC control

・Teach data acquisition control

・Playback (axis / linear / circle / arc interpolation) control

・Coordinate conversion control for playback

・redundant axis control for playback

・Direct control

.. optional function

・Axis angle real-time control

・RMRC real-time control

・Absolute target position / orientation designation control

・others

Direct teaching is optional.

7-axis ar

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