Installation manual

Chapter 6 Programming
6-9
６．３．２ Axis Orientation Control
This control method is the same as the axis control.
・Basic Orientation
All Axes ：0 [deg]
・Escape Orientation
Ｓ２ ：３０[deg]
Ｅ１ ：９０[deg]
Ｗ１ ：６０[deg]
Others： ０[deg]
・safety Orientation
Ｓ２ ： ４５[deg]
Ｅ１ ： ９０[deg]
Ｗ１ ：-４５[deg]
Others ： ０[deg]
Alteration methods for each orientation angle are:
・Method to input the angle. (ex) pa_set_hom
・Method to replace with a current angle. (ex) pa_def_hom
These values are erased when the power is off. To change the arm parameter
default value, use the parameter setting program.
Program Description:
Example: for Visual C++
ANGLE angle;
:
pa_exe_esc( ARM0, WM_NOWAIT ); to default escape orientation.
:
angle.s1 = 1.57; [rad]( = 90.0[deg]*M_PI/(double)180.0)
angle.s2 = 1.57;
angle.e1 = 1.57;
:
angle.w2 = 1.57;
pa_set_esc( ARM0, & angle ); escape orientation alteration
pa_exe_esc( ARM0, WM_NOWAIT ); all axes to 90[deg]
:
angle.s1 = 0.785;
angle.s2 = 0.785;
pa_exe_axs( ARM0, S1|S2, & angle ,WM_NOWAIT); to S1,S2 = 45[deg]
:
pa_def_esc( ARM0 ); loading as escape orientation