Installation manual

Chapter 8 PA Library
8-78
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Function:
Sets velocity mode.
Syntax:
long pa_mod_vel(ARM armno, VELMODE vmod, AXIS axis)
armno Arm number (No.)
vmod Designates velocity mode by “enum VELMODE”.
axis Designates motion axis. Plural valid axes can be designated only when
axis velocity mode is designated. Velocity can be also. (ex) S1 | S3
Explanation:
Sets in velocity mode designated by “vmod”.
If velocity mode is set, the arm moves with velocity set value.
Setting or alteration for velocity set value is performed by “pa_odr_vel“.
VM_XYZ：Linear velocity mode in base coordinate
（for Visual BASIC: VM_XYZ1）
VM_YPR：Rotational velocity mode in base coordinate
（for Visual BASIC: VM_YPR1）
VM_xyz：Linear velocity mode in mechanical interface coordinate
（for Visual BASIC: VM_XYZ2）
VM_ypr：Rotational velocity mode in mechanical interface coordinate
（for Visual BASIC: VM_YPR2）
VM_ONE：Axis velocity mode
Makes the axis designated by “axis” move with the designated velocity.
VM_XYZYPR：Linear/rotational velocity mode in base coordinate
（for Visual BASIC: VM_XYZYPR1）
VM_xyzypr：Linear/rotational velocity mode in mechanical interface coordinate
（for Visual BASIC: VM_XYZYPR2）
Uncontrollable areas exist in any control except in axis velocity control.
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 in chapter 3.
When the tip target position calculated from designated velocity, 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 designation is
ignored on account of being out of motion range.
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