Installation manual

Chapter 6 Programming
6-26
６．５．２ Elbow Control changing the tip position/posture
（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 )