Installation manual

chapter 1. FOREWORD
１－1
Chapter 1. Foreword
This is the programming manual of the new concept robot “Mitsubishi
heavy Industries, Ltd. – General Purpose Robot: PA” to be employed in various
ways for a wide range of customers.
The “PA” has two controllers: at the operation and motion control section.
At the operation control section, the C- language library (PA library) is
provided to access the motion control section.
This manual explains how to use this “PA library” in C and BASIC
language.
In this manual both 6-axis and 7-axis arm are explained as the same. If there is a
different function either in 6 or 7 axis, it is respectively shown as follows.
・The only function obtained by 6-axis arm
・The only function obtained by 7-axis arm
6 axis arm function
7 axis arm function
Remark