Installation manual

Chapter 8 PA Library
8-85
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Function:
Sets target angle direct control (real-time) mode.
Syntax:
ｌong pa_mod_axs(ARM armno);
armno Arm number (No.)
Explanation:
Sets directly target angle.
This mode creates motion, taking target value provided by “pa_odr_axs” as absolute
value.
Even though motion to target angle value can be performed employing “pa_exe_axs”,
there is a difference whether interpolation is performed or not.
Angle from current position to target value provided by “pa_odr_axs” is not
interpolated. Therefore, when this mode is employed, velocity/angle interpolation
has to be performed by users.
If entering real-time control mode, command library (pa_odr_axs) 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_axs Each axis real-time control
Description example:
ANGLE angle;
pa_get_agl(ARM1, &angle);
:
pa_odr_axs(ARM1, &angle); ... Each axis value (current value) setting
pa_set_tim(ARM1, 20); ･･･ Time-out setting （200msec）
pa_mod_axs(ARM1); ... Control mode selection by axis real-time control
:
Hereafter, “pa_odr_axs” or “pa_chk_pnt” has to be issued, at least once, within 200msec.
:
angle.s3 += 0.5*M_PI/180.0; ... Each axis renewal
pa_odr_axs(ARM1, &angle); ... Each axis value setting
: ... Each axis renewal
pa_odr_axs(ARM1, &angle); ... Each axis value setting
:
pa_sus_arm(ARM1, WM_NOWAIT); ･･･ Real-time control termination
Remark