Installation manual

Chapter 8 PA Library
8-82
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Function:
Sets target tip position/orientation direct real-time control mode.
Syntax:
ｌong pa_mod_dpd(ARM armno);
armno Arm number (No.)
Explanation:
Sets directly target tip position/orientation.
This mode creates motion, taking target value provided by “pa_odr_dpd” as absolute
value.
Even though motion to absolute target value can be performed employing
“pa_mov_mat”, there is a difference whether interpolation is performed or not.
Trajectory from current position to target value provided by “pa_odr_dpd” is not
interpolated. Therefore, when this mode is employed, velocity/trajectory
interpolation has to be performed by users.
If entering real-time control mode, command library (pa_odr_dpd) has to be issued
at least once within 1000msec all the time. If command is not issued within 1000
msec, it is recognized as man-machine controller anomaly. The arm automatically
terminates real-time control mode and sets in brake-stop status.
For time-out setting, use “pa_set_tim”.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_odr_dpd RMRC real-time control
pa_chk_cnt Synchronization processing
pa_set_tim Time-out setting
Remark