Installation manual

Appendix 1
Appendix 1-1
Appendix 1
PA library summary table
Table summarizing each PA library control condition. This can be used for programming
employing PA libraries.
If the library can be issued, it is indicated with ○. If the library can be issued in any condition,
it is indicated with <ALL>.
If each PA library is obtaining synchronization between controllers, it is indicated with ○. If not,
it is indicated with ×.
Here, below, shows the summary table for control number and its description.
Arm control number & description table
Status No. Indicated message Control description Status class.
3 Brake stop status All axes brake-stop (a)
8 Each axis angle control
status
In motion with axis control (d)
9 Each axis velocity control
status
Axis velocity control mode (f)
10 Servo lock status All axes servo-lock in direct control (i)
12 Self weight compensated
status
Weight compensation control in direct control (i)
13 RMRC control status In motion with RMRC control (e)
14 RMRC redundant axis interpolation
status
Redundant axis correction when switching to RMRC mode
15 Each Axis control servo lock
status
Each axis pause (temporary stop) in playback control
Step-stop. Playback control continuation possible.
(b)
17 Playback each axis
correction status
Motion created by axis interpolation to current point. (d)
18 Playback circle interpolation
status
Motion created by circle interpolation in playback control. (e)
19 Playback linear interpolation
status
Motion created by linear interpolation in playback control. (e)
20 Playback arc interpolation
status
Motion created by arc interpolation in playback control. (e)
21 RMRC control servo lock
status
RMRC pause (temporary stop) in playback control,
Playback step-stop
(c)
22 Waiting Playback start
Status
Playback control start waiting
Each axis servo-lock
(b)
23 Each axis control servo lock
status
Target value lock in axis feedback control (b)
24 RMRC control servo lock
status
Target value lock in RMRC feedback control (c)
25 Waiting Playback start
Status
Waiting for playback control start command.
RMRC servo-lock
(c)
26 Playback tip correction
status
Motion created by linear interpolation to current point. (e)
27 Redundant axis control
status
Redundant axis parameter operation mode (h)
28 RMRC real-time control
status
Tip position/orientation real-time control mode (k)
29 Playback each axis
interpolation status
Motion created by axis interpolation in playback control (d)
30 Coordinate conversion
position correction status
Shifting position/orientation to playback trajectory
by coordinate conversion
(e)
31 Redundant axis S3
interpolation control status
Redundant axis (elbow) in motion without changing
tip position/orientation
(h)
32 Axis real-time control
status
Each axis real-time control mode (j)
33 Move between Teaching
data (RMRC control)
In motion of RMRC control to move between one
Teaching Data and another in playback control.
(e)
34 Move between Teaching
data (Each axis control)
In motion of each axis control to move between
one Teaching Data and another in playback control.
(d)