Installation manual

Chapter 6 Programming
6-17
Program Description:
① Adjusts the axis value to the RMRC controllable one.： pa_exe_saf
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 safety orientation.
② The tip position/orientation matrix described in the base coordinate system is
provided.：pa_mov_mat
It moves toward the tip matrix (T-matrix) indicated in the base coordinate.
A coordinate system selection depends on the intended direction to shift. The
one to be applied should be chosen.
MOVEMODE types are:
MM_XYZ ： Absolute position target matrix
MM_NOA ：Absolute orientation target matrix
MM_XYZNOA ：Absolute position/orientation matrix
Example: for Visual C++
MATRIX mat;
ANGLE an;
：
pa_exe_saf(ARM0，WM_WAIT);
:
Tip T-matrix :mat set
Set 0.0 for “an” which is not used for 6-axis arm.
:
pa_mov_mat(ARM0,MM_XYZNOA,mat,&an,WM_WAIT);
From the current position, perform the RMRC interpolation and shift to the tip
position/orientation indicated by “mat.”
Example: for Visual BASIC
Dim mat As MATRIX
Dim an As ANGLE
Dim ret As Long
:
ret = pa_exe_saf(ARM0)
:
ret = pa_mov_mat(ARM0,MM_XYZNOA,mat,an,WM_WAIT)