Installation manual

Chapter 8 PA Library
8-88
ｐａ＿ｗｅｔ＿ｄｅｄ
Function:
Weight compensation control
Syntax:
ｌong pa_wet_ded(ARM armno, AXIS axis);
armno Arm number (No.)
axis Weight compensation axis designation
Explanation:
Weight compensation control is performed with axis angle, adjacent arm link weight
and gravity center position.
Macro definitions Designated axes
LOCKAXIS_S3 : S1|S2|E1|E2|W1|W2
LOCKAXIS_S1 : S2|S3|E1|E2|W1|W2
As macro definitions shown above, there are only two weight compensation controls.
Axes able to operate simultaneously are six. Either S1 or S3 axis is always in
servo-lock status. (If different setting except the ones above are adopted,
“LOCKAXIS_S3 “ is automatically set on the motion control calculator side.)
This function can be performed only when in arm direct control.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_mod_dir Direct control status ON/OFF
Description example:
AXIS axis;
:
axis = LOCKAXIS_S1;
:
pa_set_tim(ARM0,20); ･･･ Time-out setting
（200msec）
pa_mod_dir(ARM0,DM_START); ... Direct control start
pa_wet_ded(ARM0,axis); ... S1 servo-lock selection
:
:
Hereafter, “pa_odr_dpd” or “pa_chk_pnt” has to be issued, at least once, within
200msec.
: “mat” renewal
pa_sus_arm(ARM0, WM_NOWAIT); ･･･ Weight compensation control termination