Installation manual

Chapter 6 Programming
6-8
６．３．１ Axis Angle Control
Designates axes to be controlled and provides target angles.
Program Description::
Example: for Visual C++ To control only S1,S2 and E1 at 90 [deg]
:
ANGLE angle;
:
angle.s1 = 1.57; (= 90.0 * M_PI / (double)180.0)
angle.s2 = 1.57;
angle.e1 = 1.57;
pa_exe_axs( ARM0, S1|S2|E1, & angle, WM_NOWAIT );
Example: for Visual BASIC
：
Dim ret As Long
Dim axs As Long
Dim agl As ANGLE
：
agl.s1 = 1.57
agl.s2 = 1.57
agl.ｅ1 = 1.57
axs = S1 Or S2 Or E1
ret = pa_exe_axs( ARM0, axs, agl, WM_NOWAIT )
The motion speed is adjusted to the default one and interpolated forming a letter “S”
shape.