Installation manual

INDEX
Page
Chapter 1 Foreword 1-1
Chapter 2 Arm designation and motion 2-1
２．１ Axis designation
2-2
２．２ Coordinate system
2-4
２．３ Coordinate system creation
2-5
２．４ Rotation direction on coordinates
2-8
２．５ Transformations
2-9
Chapter 3 Control Mode 3-1
３．１ Motion control mode
3-2
３．２ Trajectory control mode
3-6
３．３ Axis angle interpolation
3-7
３．４ RMRC tip interpolation
3-8
３．５ Velocity control
3-11
Chapter 4 Motion and operation control section 4-1
４．１ Motion control section
4-2
４．２ Operation control section
4-3
４．３ Operation and motion control section interface
4-4
Chapter 5 Program Development Environment 5-1
５．１ Development and implementing environment
5-2
５．２ PA library configuration
5-2
５．３ PA library directory composition
5-3
５．４ Notes for the application development employing Visual C++
5-6
５．５ Notes for the application development employing Visual BASIC
5-8