Installation manual

Chapter 6 Programming
6-39
（３）Redundant axis control mode as of playback control
Selects whether or not to restrict teach data axis value when in playback control.
In S3-axis fixing mode, however, regardless of input axis value for teach data, fix the
S3-axis at the angle of the playback control start or when axis angle control changed
to the RMRC control during playback. The arm is controlled as the 6 axes manipulator,
not using the S3-axis.
The S3-axis interpolation mode controls, using only each S3-axis value for
restriction data. Other axis values for restriction data become invalid.
Program Description:
① Choose the redundant axis control mode ： pa_mod_jou
JOUMODE of pa_mod_jou uses the macro-definitions below:
JM_OFF No restriction
JM_ON All axes restriction
JM_S3ON S3-axis restriction
JM_S3DIV S3-axis interpolation
JM_S3HOLD S3-axis fixation
The default is JM_OFF (no restriction)
In any mode, each tip trajectory is the same. However, each elbow makes a
different motion.
② Shifts to the current point with axis angle control.： pa_axs_pnt
③ Performs the playback control.: pa_ply_pnt
Example: for Visual C++
pa_mod_jou(ARM0, JM_S3ON);
redundant axis control mode setting (S3-axis restriction
pa_axs_pnt(ARM0, WM_WAIT);
Shifts to the current point with axis angle control.
pa_ply_pnt(ARM0, PB_FORE, WM_WAIT);
Starting forward playback
Example: for Visual BASIC
Dim ret As Long
ret = pa_mod_jou(ARM0, JM_S3ON)
ret = pa_axs_pnt(ARM0, WM_WAIT)
ret = pa_ply_pnt(ARM0, PB_FORE, WM_WAIT)