Installation manual

Chapter 6 Programming
6-14
（２）Tip Orientation Deviation Control
Orientation deviations (ΔＹaw，ΔＰitch，ΔＲoll) from the current tip orientation are
provided to each axis in the selected coordinate system.
・Base coordinate tip orientation control：
pa_mov_YPR(ARM0, dYaw,dPitch,dRoll,WM_WAIT)
・Mechanical interface coordinate tip orientation control：
pa_mov_ypr(ARM0,dyaw,dpitch,droll, WM_WAIT )
(In the case of Visual BASIC: pa_mov_ YPRO (ARM0,dyaw,dpitch, droll, WM_WAIT) )
Control Method:
・The tip position does not change.
・The target orientation is defined by adding the current tip orientation to the input
orientation deviation.
・The rotation angle deviation of the tip orientation is interpolated.
・The arm parameter default tip rotational velocity – the rotational velocity – is
i nterpolated to form the letter “S” shape
・
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_ypr
It moves around an axis in a mechanical interface coordinate. The tip position
does not change. If tool information/offset values are set, it rotates around the tip.
A coordinate system selection depends on the intended direction to shift. The one
to be applied should be chosen.