Installation manual

Chapter 8 PA Library
8-90
ｐａ＿ｃｈｋ＿ｃｎｔ
Function:
Synchronization processing in weight compensation control (velocity, redundant
axis velocity and real-time control)
Syntax:
ｌong pa_chk_cnt(ARM armno)
armno Arm number (No.)
Explanation:
Synchronization processing between man-machine controller and motion
controller is performed in weight compensation control.
If entering weight compensation control, this PA library 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_wet_ded Weight compensation control start
pa_set_tim Time-out setting in synchronization processing
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 axis servo-lock selection
:
Hereafter, “pa_odr_dpd” or “pa_chk_pnt” has to be issued, at least once, within 200msec.
while(1){
:
pa_chk_cnt(ARM1); ･･･ Synchronization processing
Sleep(100);
:
: ＜Actuates arm manually.＞
}
pa_mod_dir(ARM1, DM_STOP); ･･･ Direct control termination
: