Installation manual

Chapter 6 Programming
6-31
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 sets the redundant axis control mode： pa_mod_jou
A default is not restricted.
③ 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);
:
Tip T-matrix : mat set
Axis value for restriction data :an set
:
pa_mod_jou(ARM0,JM_ON);
•••
the redundant axis control mode setting (all axes are restricted)
pa_mov_mat(ARM0,MM_XYZNOA,mat,&an,WM_WAIT);
Shifts from the current position to the tip position/orientation indicated in
“mat” with RMRC interpolation in the selected redundant axis control
mode (all axes are restricted).
Example: for Visual BASIC
Dim mat As MATRIX
Dim an As ANGLE
Dim ret As Long
:
ret = pa_exe_saf(ARM0)
:
ret = pa_mod_jou(ARM0,JM_ON)
ret = pa_mov_mat(ARM0,MM_XYZNOA,mat,an,WM_WAIT)