Installation manual

Appendix 4
Appendix 4-7
４． SAMPLE PROGRAM：ＥＸ２ (VisualC++ Version)
Sample program “E×1” adds real-time control function employing “pa_odr_dpd･pa_odr_axs” on
the basis of EX1. However, this function is created only in VisualC++
development environment.
Installed to the directory path below:
\winpapci\src\sample\VC\EX2
”\winpapci” stands for the directory designation of “winpapci” for installation.
（１）Operation
Screen below shown when EX2.exe is activated.
O
p
eration is the same as EX1.
RMRC real-time
control ON/ OFF.
↑（Increase ）↓（De-
crease）. .Axis value
provided in every control
cycle (2 msec) when in axis
real-time control.
AXIS real-time
control ON / OFF.
↑（Increase ）↓（Decrea-se）.
Absolute position/ orientation
provided in every control cycle
(2 msec) when in RMRC
real-time control.
Axis real-
t
ime control is performed employing
indicated value as axis value every control
cycle (2 msec). In this sample, axis
real-
t
ime control function is issued every 200
[msec].
RMRC real-time control is performed employing
indicated value as absolute position/orientation
value every control cycle (2 msec). In this sample,
RMRC real-time control function is issued every 200
[msec].