Installation manual

Appendix 1
Appendix 1-3
【Supplementary Explanation】
Supplementary explanation on PA library temporary stop and temporary-stop release function
(pa_sus_arm、pa_rsm_arm) is as follows:
Temporary stop (pause) means to stop renewing target value and create servo-stop . It does not
mean the whole control stops. Therefore, redundant axis (elbow) might move in RMRC servo-lock.
Temporary-stop release (restart) means basically to restart the prior motion. It might happen
not to restart.
“pa_sus_arm” (pause, temporary stop) & “pa_rsm_arm” (restart, temporary-stop release) table to be
issued.
Status No. Control pa_sus_arm Status NO. after pause pa_rsm_arm
3 Brake-stop （○） － －
8 Axis velocity control ○ １５ ○
9 Axis velocity control ○ １５ ×
10 Servo-lock ○ １５ ×
12 Weight compensation × － －
13 RMRC control
(RMRC velocity control)
○
○
２１
２１
○
×
14 RMRC redundant axis correction ○ １５ ○
15 Axis control servo-lock （○） － －
17 Playback axis correction ○ ２３ ○
18 Playback circle interpolation ○ ２４ ○
19 Playback linear interpolation ○ ２４ ○
20 Playback arc interpolation ○ ２４ ○
21 RMRC control servo-lock （○） － －
22 Playback start waiting ○ ２３ ○
23 Axis control servo-lock （○） － －
24 RMRC control servo-lock （○） － －
25 Playback start waiting ○ ２４ ○
26 Playback tip correction ○ ２４ ○
27 Redundant axis control ○ ２１ ×
28 RMRC real-time control ○ ２１ ×
29 Playback axis interpolation ○ ２３ ○
30 Coordinate conversion position correction ○ ２４ ○
31 Redundant S3 axis interpolation control ○ ２１ ○
32 Axis real-time control ○ １５ ×
33
Move between Teaching data
(RMRC control)
○ 24 ○
34
Move between Teaching data
(Each axis control)
○ 15 ○
○ ： Valid (possible)
× ： Invalid (not possible)
（○）： Valid, but, not changing status.