Installation manual

Chapter 8 PA Library
8-108
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Function:
Redundant axis control mode
Syntax:
ｌong pa_mod_jou(ARM armno, JOUMODE jmod);
armno Arm number (No.)
jmod Designates redundant axis control mode by “enum JOUMODE”.
Explanation:
Sets redundant axis control mode
For 7-axis arm, like PA-10, even if tip position and orientation trajectory are the
same, plural axis values exist. Redundant axis operation has to be set.
IN all RMRC control, if intending to control elbow position, following redundant axis
control modes are provided:
JM_OFF ：Redundant axis control restriction release
Redundant axis control is reset in RMRC control.
JM_ON ：Redundant axis control all axes restriction mode
Each axis value, when in motion, is restricted by teach point or each
axis value of designated data in RMRC control.
JM_S3ON ：Redundant axis control only S3axis restricted mode
Each axis value of S3 axis when in motion is restricted by teach point
or each axis value of designated data in RMRC control.
JM_S3DIV ：Redundant axis control S3 axis interpolation restriction mode
Each axis value of S3 axis when in motion is restricted by teach point
or each axis value of designated data in RMRC control.
JM_S3HOLD：Redundant axis control S3 axis fixation restriction mode
Each axis value of S3 axis when in motion is fixed by teach point or
each axis value of designated data in RMRC control.
In any method, tip trajectory is the same. But, each axis value is different.
For more, refer to programming manual, chapter 3.
Restriction force for each provided axis data is as follows:
No restriction ＜Small＞ ＜Medium＞ ＜large＞ Fixed
JM_OFF → JM_ON → JM_S3ON → JM_S3DIV → JM_S3HOLD
When intending to change elbow position keeping the same position and orientation
in RMRC control:
JM_SET ：Sets the mode to operate redundant axis control parameter.
For parameter operation method, uses “pa_odr_jou”.
JM_RESET：Returns redundant axis control parameter to default value (no
restriction).
7-axis arm functio
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