Installation manual

Chapter 6 Programming
6-43
（４）S3-axis angle control
Method to shift the elbow without changing the tip position/orientation commanding
S3-axis absolute angle [rad] – the “KEY” of the redundant axis (elbow) control.) It
is interpolated with the provided angle command and S3-axis angle deviation using
the S3-axis default velocity, and controlled.
In this S3-axis angle control, the redundant axis control mode is automatically
shifted to the S3-axis interpolation mode.
Example: for Visual C++
float S3;
S3 = 80.0 * M_PI / (double)180.0;
pa_mov_jou(ARM0, S3, WM_WAIT); Move the elbow until 80[deg]
：
：
pa_mov_xyz(ARM0, 0.0, 100.0, 0.0 WM_WAIT);
S3-axis moves maintaining 80 [deg] angles in the S3-axis interpolation mode without
changing modes.
Example: for Visual BASIC
Dim axsS3 As Single
Dim ret As Long
axsS3 = 80.0 * PAI / 180.0
ret = pa_mov_jou(ARM0, axsS3, WM_WAIT)
：
：
ret = pa_mov_XYZ0(ARM0, 0.0, 100.0, 0.0 WM_WAIT)