Installation manual

Chapter 8 PA Library
8-19
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Function
RMRC mechanical interface coordinate position deviation control
Syntax
long pa_mov_xyz(ARM armno, float x, float y, float z, long func)
armno Arm number (No.)．
x Mechanical interface coordinate toward X position deviation [mm]
y Mechanical interface coordinate toward Y position deviation [mm]
z Mechanical interface coordinate toward Z position deviation [mm]
func Designation whether to wait or not until motion is completed.
Explanation
With base coordinate axis as standard, the tip position moves at the only distance
created from designated position deviation toward X, Y and Z. Tip orientation does
not change.
Tip motion trajectory is linear. Velocity is interpolated creating trapezoidal profile.
This function creates motion by “func” as follows:
・Designates WM_WAIT ：does not return unless motion is completed.
・Designates WM_NOWAIT：returns without confirming motion completion.
PA-10 RMRC control: method to interpolate arm tip trajectory and orientation
setting position and orientation as the target value.
In PA-10 RMRC control, uncontrollable areas exist.
This is defined as a singularity. It is the point where E1 axis becomes 0 [deg]
(930 [mm] length from S2 rotation origin to W1 rotation origin). Singularity check
is performed when the target value is created in RMRV control.
For more, refer to programming manual in chapter 3.
When the tip target position calculated from designated deviation, exceeds arm
motion range, warning occurs: “target value arm length exceeds 925 [mm]
(automatically cut target value).”
If arm motion continues and exceeds motion range, the operation is automatically
switched to temporary-stop status. Immediately, the servo-lock performs.
When LENGTH value is beyond 925 [mm] before being in motion, this motion is not
performed as the motion range exceeds.
Two motion range types: LENGTH 925 [mm] available for RMRC control and axis
angle limit. If exceeding either limit, arm motion is not performed.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
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Remark