Installation manual

Chapter 6 Programming
6-40
When to alter the redundant axis control mode during the playback control:
During the playback control, makes the temporary stop (pa_sus_arm), then, sets the
redundant axis control mode with pa_mod_jou. It can be altered.
Except the case explained below, after mode alteration, if a temporary stop is put
in motion (pa_rsm_arm), the control is restarted.
The reason why a temporary-stop-release does not work after a mode alteration is
on account of altering the redundant axis control mode to the “S3-axis restriction
mode” or the “S3-axis interpolation mode” during performing playback in RMRC
feedback control, After the mode alternation, the playback control is terminated.
Why the playback control stops when changes to “S3-axis restriction/interpolation
mode” during playback performance in RMRC feedback control? There are two:
First of all, the redundant axis control mode can be employed for RMRV feedback
control. During a playback performance of axis feedback control, any redundant axis
control mode is invalid. Next, for example, as explained in the section 6.5.5, if the
“S3-axis interpolation mode” is chosen, not only the tip position/orientation target
value, but also the S3-axis target value at every controlling cycle are provided. So
that this mode is more strict than others. If changes suddenly to the “S3-axis
interpolation mode,” the playback cannot be performed as the current and target
S3-axis value are not equivalent.
To perform the playback control again, alter the current point (if needed), shift
(pa_mov_pnt) to the current point, then, start (pa_ply_pnt) the playback.