Installation manual

Appendix 4
Appendix 4-5
（２）Program
EX3 program motion is as follows:
For EX3, the joystick can be simply moved by inserting OCX for joystick (J/S).
Joystick (J/S) OCX contains properties and methods as follows.
PROPERTY
・pa_arm_no Sets motion target arm number within 0～15.（Default: ０）
・pa_arrow Switches into position or orientation velocity control. （ Default:
Position）
・pa_axis Switches into base or tip coordinate.（Default: Base coordinate）
・pa_device_no Selects device number 1 or 2 connected with the joystick.（Default is
1：JOYSTICKID1）
・pa_interval Sets velocity command output cycle with “mSec” unit. （Default:100
［mSec］. If setting for a long cyclic period it may cause over
surveillance time and error-stop.）
・pa_offset_deg Sets dead zone for joystick input value while in rotational velocity
control.（Default: 1000）
・pa_offset_mm Sets dead zone for joystick input value while in linear velocity control.
（Default: 1000）
EX3
（EX3.exe）
J/S OCX
（Pajs.ocx）
J/S DLL
（Pajs.dll）
Jo
y
stick
PA Library DLL
Periodic velocity command
J/S slant loading