Installation manual

Chapter 8 PA Library

8-26

For 7-axis arm, Even if the tip position/orientation trajectory is the same, plural

axis values exist. So that redundant axis operation has to be set.

Before performing playback control:

・If redundant axis operation control mode is selected, teach point data axis value

restricts motion.

・If redundant axis operation control mode: “JM_OFF” is selected, motion is not

restricted by teach point data axis value.

Default is JM_OFF.

With any redundant axis control mode, the tip trajectory is 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.

Return value

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference

pa_mov_pnt Moves linearly to the arm current point.

pa_axs_pnt Each axis moves to the arm current point.

pa_mod_jou Performs redundant axis operation control.

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.

pa_ply_pnt(ARM1, PB_FORE, -1, WM_WAIT); .. Playback control starts from the

current point (top) to infinity.

7-axis arm functio