Installation manual

Chapter 8 PA Library
8-84
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Function:
Sets target tip position/orientation data in real time.
Syntax:
ｌong pa_odr_dpd(ARM armno, MATRIX mat, ANGLEP angle);
armno Arm number (No.)
mat Absolute target position/orientation matrix
angle Each axis value for redundant axis restriction control
Explanation:
Sets target value when in target position/orientation direct mode.
For “mat”, designates absolute position/orientation every control cycle (10ms).
Motion controller performs RMRC feedback control without trajectory interpolation
for position/orientation provided by “mat”.
To summarize, arm control trajectory is controlled by the value set in PA library.
Therefore, a difference between current position/orientation and setting “mat” has
to be one cycle deviation (velocity divided by control cycle.)
In this control, likewise, redundant axis control mode (mode selected by
“pa_mod_jou”) to control elbow position is valid and restricted by each axis value
provided by “angle”.
If redundant axis control mode is “no restriction” or “S3 axis fixed”, “angle” is
invalid.
If redundant axis control mode is “S3 interpolation”, “MATRIX mat” likewise, S3
axis angle every control cycle is also set in “angle”.
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_mod_dpd RMRC real-time control mode setting
pa_mod_axs Each axis real-time control mode setting
pa_odr_axs Each axis real-time control
pa_chk_cnt Synchronization processing
pa_set_tim Time-out setting
Remark