Installation manual

Chapter 6 Programming
6-13
（１）Tip Position Deviation Control
Position deviations (ΔＸ，ΔＹ，ΔＺ) from the current tip position are provided to
each axis in the selected coordinate system.
・Base coordinate tip position control：pa_mov_XYZ( ARM0, dX, dY, dZ, WM_WAIT )
・Mechanical interface coordinate tip position control：pa_mov_xyz( ARM0, dx, dy, dz,
WM_WAIT)
（ Visual BASIC: pa_mov_XYZ0( ARM0,dx,dy, dz, WM_WAIT ) ）
In Visual BASIC, there is no distinction between capital and small letters.
Control Method:
・ The target position is defined by adding the current tip position to the input
position deviation.
・ The tip position is interpolated linearly.
・ The arm parameter default tip linear velocity is interpolated to form the letter
“S” shape
・The tip orientation does not change.
Program Description:
① Adjusts the axis value to the RMRC controllable one.
: pa_exe_esc
The possible start range for RMRC control is limited.
The entry to the RMRC control is not allowed when Ｅ１＝０[deg].
The entry to the RMRC control from the basic orientation is not allowed. One of
the ways to enter the RMRC control is to shift to the escape orientation.
② Chooses the coordinate system and provides deviation. ： pa_mov_XYZ
It moves 100 (mm) toward X (axis) in the base coordinate.
A coordinate system selection depends on the intended direction to shift. The
one to be applied should be chosen.
Example: for Visual C++
:
pa_exe_esc( ARM0, WM_WAIT ); ･･･to RMRC controllable orientation
pa_mov_XYZ( ARM0, 100.0, 0.0, 0.0,WM_WAIT );
: ･･･Proceed X=100.0 in the base coordinate.
Example: for Visual BASIC
Dim ret As Long
：
ret = pa_exe_esc( ARM0, WM_WAIT )
ret = pa_mov_XYZ( ARM0, 100.0, 0.0, 0.0,WM_WAIT )