Installation manual

Chapter 7 Library Reference
7-
28
PA library characteristic type definition （for Windows Visual BASIC）
・Default velocity alteration classification:
Public Const VT_ONEVEL As Long = &H0 Each default velocity alteration
Public Const VT_XYZVEL As Long = &H1 Tip position default velocity
alteration
Public Const VT_YPRVEL As Long = &H2 Tip orientation default velocity
alteration
・Velocity control mode classification:
Public Const VM_XYZ1 As Long = &H200 Base coordinate linear velocity
control
Public Const VM_YPR1 As Long = &H201 Base coordinate rotational velocity
control
Public Const VM_XYZ2 As Long = &H202 Mechanical interface coordinate
linear velocity control
Public Const VM_YPR2 As Long = &H203 Mechanical interface coordinate
rotational velocity control
Public Const VM_ONE As Long = &H204 Each axis velocity control
Public Const VM_XYZYPR1 As Long = &H205 Base coordinate linear/rotational
velocity control
Public Const VM_XYZYPR2 As Long = &H206 Mechanical interface coordinate
linear/rotational velocity control
・Redundant axis control mode classification:
Public Const JM_SET As Long = &H345 Redundant axis control parameter
operation start
Public Const JM_RESET As Long = &H346 Redundant axis control parameter
reset
Public Const JM_VSET As Long = &H347 Redundant axis velocity control
mode
Public Const JM_ON As Long = &H348 Redundant axis control all axes
restriction mode
Public Const JM_OFF As Long = &H349 Redundant axis control restriction
release
Public Const JM_S3ON As Long = &H34A Redundant axis control only S3
axis restriction mode
Public Const JM_S3DIV As Long = &H34B Redundant axis control S3 axis
interpolation restriction mode
Public Const JM_S3HOLD As Long = &H34C Redundant axis control S3 axis
fixation restriction mode
Public Const JT_RIGHT As Long = 1 Moves redundant axis restriction
parameter to the right.
Public Const JT_HOLD As Long = 0 Holds redundant axis restriction
parameter.
Public Const JT_LEFT As Long=-1 Moves redundant axis restriction
parameter to the left.
7-axis arm functio
n