Installation manual

Chapter 6 Programming
6-42
（２）redundant axis parameter alteration
Here, operates the redundant axis control parameter.
(Axis value needed to be restricted is operated. In the case here, the S3-axis value
for restriction data is operated.)
In this control, redundant axis control mode is automatically shifted to the S3-axis
interpolation mode.
Example: for Visual C++
pa_mod_jou(ARM0, JM_SET); Shifts to the redundant axis parameter alteration
pa_odr_jou(ARM0, JM_RIGHT); Swings the redundant axis to the right
：
：
pa_odr_jou(ARM0, JM_HOLD); maintains the redundant axis position
Example: for Visual BASIC
Dim ret As Long
ret = pa_mod_jou(ARM0, JM_SET)
ret = pa_odr_jou(ARM0, JM_RIGHT)
：
：
ret = pa_odr_jou(ARM0, JM_HOLD)
（３）Redundant axis parameter reset
If resets, parameter value in the redundant axis control returns to the default value.
When the elbow position is strongly restricted, if resets, the elbow position get
stable and might happen to slowly approach the arm moving range center.
If issues parameter reset, the redundant axis control mode is automatically shifted
to the non restriction mode.