Installation manual

Appendix 4
Appendix 4-2
Shifts to the previously set position.
Displays arm joint
angle in actual time.
All axes brakes: ON.
All axes servo: ON.
Terminates arm control
and program.
Operates each axis motion: UP（Joint angle increase）and DOWN
（Joint angle decrease）
f
or the axis selected by the operation axis
located in the right area. Usually, every one push moves 0.01[rad]. I
f
the turbo is chosen, moves 0.1[rad.].
Displays message on arm
control
Displays message on
arm error.
１． SAMPLE PROGRAM ：ＥＸ１
Sample program “E×1” employs VisualBASIC、VisualC++ and MFC for each development
environment, having similar operation display.
Each is installed to the directory path below:
① Visual Basic Version
\winpapci\src\sample\VB\EX1
② Visual C++ Version
\winpapci\src\sample\VC\EX1
③ MFC Version
\winpapci\src\sample\MFC\EX1
”\winpapci” stands for the directory designation of “winpapci” for installation.
（１）Operation
Screen below displayed when EX1.exe is activated.
As this program operation is equivalent to each development environment, explains
the operation employing MFC as an example. Screen below shown when Ex1.exe is
activated. Arm is already controllable in actual machine mode, when displayed on screen.