Installation manual

Chapter 8 PA Library
8-150
ｐａ＿ｓｅｔ＿ｖｅｌ
Function:
Alters default velocity.
Syntax:
long pa_set_vel(ARM armno, VELTYPE vtype, float vel[]);
armno Arm number (No.)
vtype Default velocity classification
(*) vel[] Default velocity alteration value
Explanation:
Alters default velocity indicated by “vtype” to “vel[rad/sec]”.
It vanishes with power supply: OFF.
VT_ONEVEL：Axis default velocity alteration [rad/sec]
VT_XYZVEL：Tip position default velocity alteration [mm/sec]
VT_YPRVEL：Tip orientation default velocity alteration [rad/sec]
(*) ＜NOTE＞
When in “VT_ONEVEL”, default velocity for 7 axes can be set by “vel[7]”.
When in “VT_XYZVEL、VT_YPRVEL: vel[1].
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_prm
pa_set_tol
Description example: (1)
ANGLE angle;
float vel[7];
:
vel[0] = 0.6; ･･･ S1 axis [rad/sec]
vel[1] = 0.6; ･･･ S2 axis [rad/sec]
:
vel[6] = 3.14; ･･･ W2 axis [rad/sec]
pa_set_vel(ARM1, VT_ONEVEL, vel ); ... Axis default velocity alteration
angle.s3 = 3.14;
pa_exe_axs(ARM1, S3, &angle, WM_NOWAIT); ... Axis control only for S3 axis
:
Description example: (2)
float vel;
vel = 40.0; ･･･ Tip position default velocity
[mm/sec]
pa_set_vel(ARM1, VT_XYZVEL, &vel ); ･･･ Tip position default velocity alteration
pa_mov_XYZ(ARM1, 50.0, 100.0, 0.0, WM_WAIT);
･･･ RMRC base coordinate position deviation control