Installation manual

Chapter 8 PA Library
8-86
ｐａ＿ｏｄｒ＿ａｘｓ
Function:
Sets target axis data in real time.
Syntax:
ｌong pa_odr_axs(ARM armno, ANGLEP angle);
armno Arm number (No.)
angle Each axis target value for each axis real-time control
Explanation:
Sets target axis value in real time.
For “angle”, designates each axis value every control cycle (10ms).
Motion controller performs axis feedback control without axis interpolation for each
axis provided by “angle”.
To summarize, arm axis is controlled by the value set in PA library. Therefore, the
difference between current angle and setting “angle” has to be one cycle deviation
(velocity divided by control cycle.)
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_mod_axs Each axis real-time control setting
pa_odr_dpd RMRC real-time control
Remark