Installation manual

Chapter 7 Library Reference

FUNCTION LIST <> Page number

--- Direct control function ---------（Optional function）-----------------------

pa_mod_dir <8-87> Servo lock ON/OFF when in direct control start

pa_wet_ded <8-88> Weight compensation control

pa_drt_ded <8-89> Arm installation direction setting

pa_chk_cnt <8-90> Synchronization processing in direct control

pa_set_tim <8-91> Time-out setting in synchronization processing

pa_get_tim <8-92> Time-out loading in synchronization processing

pa_get_drt <8-93> Arm installation direction acquisition/loading

--- Function on position setting/definition --------------------------------------------

pa_set_hom <8-94> Home position setting

pa_set_esc <8-95> Escape position setting

pa_set_saf <8-96> Safety position setting

pa_def_hom <8-97> Defining current value as home position

pa_def_esc <8-98> Defining current value as escape position

pa_def_saf <8-99> Defining current value as safety position

--- Function on coordinate conversion matrix & tip position offset ---------------------------

pa_set_mtx <8-100> Coordinate spatial conversion matrix (position offset) setting

pa_set_mat <8-101> Coordinate spatial conversion matrix setting

pa_set_wav <8-102> Weaving trajectory setting

pa_odr_xyz <8-103> Tip position offset value setting

pa_lmt_xyz <8-104> Limit value setting when in offset value supplement

pa_get_mat <8-105> Current setting conversion matrix loading

pa_get_sns <8-106> Current setting tip offset value loading

pa_get_lmt <8-107> Limit value loading when in offset value supplement

--- Redundant axis control function -----------(7-axis, only) --------------------------

pa_mod_jou <8-107> Redundant axis control mode setting

pa_odr_jou <8-110> Redundant axis control data set

pa_mov_jou <8-111> Redundant axis (elbow) motion control

pa_get_jou <8-112> Arm redundant axis control mode loading