Installation manual

Appendix 4
Appendix 4-4
３．SAMPLE PROGRAM: ＥＸ３ （VisualBASIC Version）
Sample program ＥＸ３: programmed to actuate arms with velocity control using game joystick.
However, ＥＸ３ is created only in VisualBASIC development environment.
Installed to the following directory path:
\winpapci\src\sample\VB\EX3 ＥＸ３ program File
\winpapci\src\sample\VB\EX3\DLL ＥＸ３ Velocity Control DLL File
\winpapci\src\sample\VB\EX3\OCX ＥＸ３ ＯＣＸ File
”\winpapci” stands for the directory designation of “winpapci” for installation.
（１）Operation
Screen below shows when EX3.exe is activated.
While in velocity control, the arm can be actuated to front/back, right/left and rotated
by keeping on pushing the joystick button. Arm motion velocity can be controlled by
the joystick slant.
Shows arm control status.
Servo ON：
Arm status: servo ON.
Brake on all axes：
Brake ON to all axes.
Move to Safety Position：
Keeps arm in safe position..
Shows arm
j
oint an
g
le.
Shows command velocity
created by joystick.
Start/End velocity control.
Shows arm error information.
Switches velocity control in position or
orientation. However, Not changeable while in
velocity control.