Installation manual

Chapter 8 PA Library
8-79
For axis velocity control likewise, each axis angle exceeds each axis angle limit at
designated velocity, the following warnings occur:
-1070 S1 axis velocity control angle exceeded
-1071 S2 axis velocity control angle exceeded
-1072 S3 axis velocity control angle exceeded
-1073 E1 axis velocity control angle exceeded
-1074 E2 axis velocity control angle exceeded
-1075 W1 axis velocity control angle exceeded
-1076 W2 axis velocity control angle exceeded
There are two motion ranges: LENGTH 925 [mm] available for RMRC control and
axis angle limit. If exceeding either limit, arm motion cannot be performed to the
direction exceeding the motion range. Velocity command to this direction is
ignored. But, velocity command to the movable direction can be provided.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_odr_vel Velocity setting in velocity mode