Installation manual

Chapter 8 PA Library
8-83
Description example:
MATRIX mat;
ANGLE an;
：
pa_mov_mat(ARM1, MM_XYZNOA, mat, &an, WM_WAIT);
:
pa_set_tim(ARM1, 20); ･･･ Time-out setting（200msec）
pa_mod_jou(ARM1, JM_ON); ･･･ Redundant axis control mode setting (all
axes restricted)
pa_mod_dpd(ARM1); ･･･ Control mode selection by tip matrix
:
Hereafter, “pa_odr_dpd” or “pa_chk_pnt” has to be issued, at least once, within
200msec.
Renewing “mat”.
pa_odr_dpd(ARM1, mat, &an); ･･･ Tip matrix and restriction data axis value setting
( Refer to “pa_odr_dpd”)
Renewing “mat”.
pa_odr_dpd(ARM1, mat, &an);
:
pa_sus_arm(ARM1 , WM_NOWAIT); ･･･ Real-time control termination