Installation manual

Chapter 3. CONTROL MODE
３－3
（１）Axis angle Control
Operation method ordering each axis target angle or previously defined each axis
value, through the operation controller.
Programming is explained in Section 6-3.
（２）Tip Position /Tip Orientation Control
Method to shift the tip straight or rotate the tip direction by inputting the tip
position/orientation deviation for the defined coordinate axis by the operation
controller.
The Motion controller calculates the linear interpolation for each tip
position/orientation and control position/orientation feedback.
In PA10, tip position/orientation control is called RMRC control.
Programming for the 6 axis arm is explained in section 6-4 and for the axis arm,
in section 6-5.
（３）Velocity Control
Operation method to select the axis for velocity control and input command value.
Input to each axis or to the coordinate system axis is accessible.
Programming is explained in section 6-6.
（４）Redundant Axis Control
For the 7-axis arm, the same as PA, there are several axis values at the same tip
position/orientation. The arm, with these characteristics, is called “Redundant axis
arm”.
By controlling this redundant axis, complex movements can be achieved.
For instance, even if the elbow encounters obstacles, this elbow position can be
shifted, without changing the tip position/orientation.
The redundant axis control is the mode restricting each axis of the 7-arm axis to any
direction.
There are two types of redundant axis control, as follows:
・The control restricts the redundant axis altering the tip position/ orientation.
・The control shifts, only, the redundant axis (elbow) position not altering the tip
position/orientation.
Programming is explained in section 6-5.
7-axis arm functio
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