Installation manual

Chapter 8 PA Library
8-80
ｐａ＿ｏｄｒ＿ｖｅｌ
Function:
Sets velocity for velocity mode.
Syntax:
ｌong pa_odr_vel(ARM armno, float spd[])
armno Arm number (No.)
spd[] Velocity setting (Its significance is different depending on velocity mode.)
Explanation:
Sets velocity for velocity control mode.
for Base coordinate linear velocity mode &
Mechanical interface coordinate linear velocity mode
spd[0]：Displacement/velocity toward x [mm/sec]
spd[1]：Displacement/velocity toward y [mm/sec]
spd[2]：Displacement/velocity toward z [mm/sec]
for Base coordinate rotational velocity mode &
Mechanical interface coordinate rotational velocity mode
spd[0]：Angular velocity on x axis [rad/sec]
spd[1]：Angular velocity on y axis [rad/sec]
spd[2]：Angular velocity on z axis [rad/sec]
for Axis velocity mode
spd[0]：S1 axis motion angular velocity [rad/sec]
spd[1]：S2 axis motion angular velocity [rad/sec]
spd[2]：S3 axis motion angular velocity [rad/sec]
spd[3]：E1 axis motion angular velocity [rad/sec]
spd[4]：E2 axis motion angular velocity [rad/sec]
spd[5]：W1 axis motion angular velocity [rad/sec]
spd[6]：W2 axis motion angular velocity [rad/sec]
for Base coordinate linear/rotational velocity mode &
Mechanical interface coordinate linear/rotational velocity mode
spd[0]：Displacement/velocity toward x [mm/sec]
spd[1]：Displacement/velocity toward y [mm/sec]
spd[2]：Displacement/velocity toward z [mm/sec]
spd[3]：Angular velocity on x axis [rad/sec]
spd[4]：Angular velocity on y axis [rad/sec]
spd[5]：Angular velocity on z axis [rad/sec]