Installation manual

Chapter 8 PA Library
8-110
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Function:
Redundant axis control parameter operation
Syntax:
ｌong pa_odr_jou(ARM armno, JOUTYPE jtyp);
armno Arm number (No.)．
jtyp Redundant axis transition direction
Explanation:
If redundant axis control parameter is operated, arm position can be changed.
This parameter is valid only when “JM_SET” is selected by “JM_SET”.
JT_RIGHT：Shifts redundant axis restriction parameter to the right.
JT_LEFT ：Shifts redundant axis restriction parameter to the left.
JT_HOLD ：retains redundant axis restriction parameter.
Parameter operation continues until next operation is performed.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_mod_jou Redundant axis control mode
Description example:
:
pa_mod_jou(ARM1, JM_SET); ... Redundant axis restriction parameter operation
mode
pa_odr_jou(ARM1, JT_LEFT); ... Shifts Redundant axis restriction parameter to
the left.
:
7-axis arm functio
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