Installation manual

Chapter 6 Programming
6-2
６．１ Control Arm
（１）6-axis and 7-axis arm
The PA library for 6-axis and 7-axis is described as the same.
Some libraries can only be used for the 7-axis arm, not for the 6-axis one. A
processable library inter-lock is checked at the motion control side.
For the 6-axis arm, on command values to each axis, the S3-axis
(configuration [2]) value becomes invalid.
(example) Type Declaration 6-axis arm 7-axis arm
Axis value ANGLE axis
ａｘｓ.S1 1
st
axis：S1 1
st
axis：S1
ａｘｓ.S2 2
nd
axis：S2 2
nd
axis：S2
ａｘｓ.S３ （not used） 3
rd
axis：S3
ａｘｓ.E1 3
rd
axis：E1 4
th
axis：E1
ａｘｓ.E2 4
th
axis：E2 5
th
axis：E2
ａｘｓ.W1 5
th
axis：W1 6
th
axis：W1
ａｘｓ.W2 6
th
axis：W2 7
th
axis：W2
Velocity command Value ｆｌｏａｔ ｓｐｅｅｄ[7]
speed[0] 1
st
axis：S1 1
st
axis：S1
speed[1] 2
nd
axis：S2 2
nd
axis：S2
speed[2] （not used） 3
rd
axis：S3
speed[3] 3
rd
axis：E1 4
th
axis：E1
speed[4] 4
th
axis：E2 5
th
axis：E2
speed[5] 5
h
axis：W1 6
th
axis：W1
speed[6] 6
th
axis：W2 7
th
axis：W2
（２）Plural Arm Control
For one operation control PC (Personal Computer), plural motion control boards can
be inserted. Besides, two arms can be controlled with one motion control board. In
the case of plural arms, the controlled arm is classified with its own number.
For the PA library, all arm numbers are needed.
pa_opn_arm（ARM armno,……..）
ARM =ARM０
=ARM１
=ARM2
：
=ARM16
For arm number settings, refer to “the PROGRAMING MANUAL （ADDITIONAL
EDITION）.”
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