Installation manual

Chapter 8 PA Library
8-24
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Function
Moves from the present point to the current point.
Syntax
long pa_mov_pnt(ARM armno, long func)
armno Arm number (No.)．
func Designation whether to wait or not until motion is completed.
Explanation
Moves the arm from the present point to the current point interpolating linearly tip
trajectory and tip orientation.
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.
For this method, RMRC control is employed, the arm tip position trajectory from
the present position to the current one is linearly interpolated and orientation is
also interpolated.
For 7-axis arm:
Even if the tip position/orientation trajectory is the same, plural axis values exist
then. So that redundant axis control has to be set.
・If redundant axis operation control mode is selected, current point teach data
axis value restricts motion.
・If redundant axis operation control mode not restricted is selected, motion is not
restricted by current point teach data axis value.
Either redundant axis control modes, the tip trajectories are the same. But, each
axis value is different.
Redundant axis control mode is available in all RMRC controls until it is reset.
For more, refer to programming manual in chapter 3.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_chg_pnt Current point alteration
pa_axs_pnt Each axis moves to the current point.
pa_ply_pnt Playback control
pa_mod_jou Restricted axis control mode
Description example
pa_mod_jou(ARM1, JM_ON); .. Redundant axis control mode ”All axes restriction”
selection
pa_chg_pnt(ARM1, PM_TOP, 0); .. Moves the teach point pointer to the top
pa_mov_pnt(ARM1, WM_WAIT); .. Moves to the current (top) teach point with
axis interpolation.
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