Installation manual

Chapter 8 PA Library
8-21
ｐａ＿ｍｏｖ＿ｍａｔ
Function
Tip position/orientation target absolute position designation control
Syntax
long pa_mov_mat(ARM armno, MOVEMODE mmod, MATRIX mat,
ANGLEP angle, long func)
armno Arm number (No.)．
mmod Absolute target matrix classification ? 絶先目標行列種別???????
mat Absolute tip position/orientation target matrix
angle Each axis value for redundant axis restriction control [rad]
func Designation whether to wait or not until motion is completed.
Explanation
Moves to the target provided by “mat” for the arm designated by “armno”.
Three motion target designation methods: absolute position, absolute orientation
and absolute position/orientation. These can be designated by “mmod”.
Trajectory to the designated target value is interpolated linearly.
MOVEMODE mmod classification:
・MM_XYZ ：By “mat”, position is altered without changing absolute
position target matrix tip orientation.
･MM_NOA ：By “mat”, orientation is moved without changing absolute
orientation target matrix tip position.
･MM_XYZNOA ：By “mat”, absolute position orientation matrix tip
position/orientation is moved.
MATRIX mat:
ｎx ｏx ａx ｐx
ｎy ｏy ａy ｐy matrix: mat[3][4]
ｎz ｏz ａz ｐz
ANGLEP angle
Also, in this control, redundant axis control mode (the mode selected by
“pa_mod_jou”) to control elbow position is available and restricted by each axis
value provided by “angle.” For 6-axis or 7-axis arm, when redundant axis
control mode is OFF (no restriction), “angle” is invalid. However, a variable has
to be set 0.
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).
For more, refer to programming manual.
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