Installation manual

Chapter 8 PA Library
8-87
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Function:
Direct control (servo lock) ON/OFF
Syntax:
ｌong pa_mod_dir(ARM armno, DIRECTMODE dmod);
armno Arm number (No.)
dmod Designates servo lock by “enum DIRECTMODE”.
Explanation:
Before changing to weight compensation control or simplified weight compensation
control, the arm has to be in servo-lock status.
Its servo-lock status ON/OFF switching is performed.
DM_START： Servo-lock ON
DM_STOP ： Servo-lock OFF
If entering weight compensation control, (to be concrete, issuing pa_wet_ded),
synchronization processing library (pa_chk_cnt) has to be issued, at least once,
within 1000msec. 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_chk_cnt Synchronization processing
pa_set_tim Time-out setting
Remark