Installation manual

Chapter 8 PA Library

8-111

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Function:

Redundant axis control motion by S3 axis designation

Syntax:

ｌong pa_mov_jou(ARM armno, float s3, long func);

armno Arm number (No.)．

s3 Designates S3 axis target angle [rad]

func Designation whether to wait or not motion completion

Explanation:

For 7-axis arm, like PA-10, even if tip position and orientation trajectory are the

same, plural axis values exist. Therefore, this is the mode to control 7-axis arm as

6-axis one by interpolating a certain axis (S3). Designating S3 axis target angle

without changing tip position/orientation, controls redundant axis (elbow) changing

S3 axis angle to the target angle.

After performing this processing, redundant axis control mode is in S3 interpolation

restriction. The mode continues to be in S3 axis interpolation restriction status if

it is not changed.

The explanation on “func” is the same as “pa_mov_XYZ”.

Return value:

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference:

pa_mod_jou Redundant axis control mode setting

pa_odr_vel Velocity mode velocity setting

Description example:

float s3;

s3 = 80.0*M_PI/180.0; ... S3 axis target value = 80[deg]

pa_mov_jou(ARM1, s3, WM_WAIT); ... Redundant axis (elbow) control

pa_mov_XYZ(ARM1, 0.0, 100.0, 0.0, WM_WAIT);

(Moves 100 mm toward Y (Y=100[mm]) kept on laying redundant axis (elbow) down.)

7-axis arm functio