Installation manual

Chapter 7 Library Reference

PA library characteristic type definition （for Windows Visual C++）

・Redundant axis control mode classification:

typedef unsigned long JOUMODE;

#define JM_SET (JOUMODE)0x345 Redundant axis control parameter

operation start

#define JM_RESET (JOUMODE)0x346 Redundant axis control parameter

reset

#define JM_VSET (JOUMODE)0x347 Redundant axis velocity control

mode

#define JM_ON (JOUMODE)0x348 Redundant axis control all axes

restriction mode

#define JM_OFF (JOUMODE)0x349 Redundant axis control restriction

release

#define JM_S3ON (JOUMODE)0x34a Redundant axis control only S3

axis restriction mode

#define JM_S3DIV (JOUMODE)0x34b Redundant axis control S3 axis

interpolation restriction mode

#define JM_S3HOLD (JOUMODE)0x34c Redundant axis control S3 axis

fixation restriction mode

typedef unsigned long JOUTYPE;

#define JT_RIGHT (JOUTYPE)1 Moves redundant axis restriction

parameter to the right.

#define JT_HOLD (JOUTYPE)0 Holds redundant axis restriction

parameter.

#define JT_LEFT (JOUTYPE)-1 Moves redundant axis restriction

parameter to the left.

・Target tip matrix control mode classification:

typedef unsigned long MOVEMODE;

#define MM_XYZ (MOVEMODE)0x5680 Tip position control

#define MM_NOA (MOVEMODE)0x5681 Tip orientation control

#define MM_XYZNOA (MOVEMODE)0x5682 Tip position/orientation

control

7-axis arm functio