Installation manual

Chapter 6 Programming
6-44
６．６ Velocity Control
Velocity controls are as follows:
・Axis velocity control（ ＶS1，ＶS2，･･･ ＶW2 ）
・Tip linear velocity（ Ｖx，Ｖy，Ｖz ）
・Tip rotational velocity（ Ｖyaw，Ｖpitch，Ｖroll ）
・Tip position/orientation velocity（ Ｖx, Ｖy, Ｖz ）,( Ｖyaw，Ｖpitch，Ｖroll )
・Redundant axis velocity control（ VS3 ）
Pay attention to initialize the velocity command value before
entering the velocity control mode.
During the velocity control, from the entry to the end of the mode, the velocity
command library (pa_odr_vel) has to be issued every time-out (set with “pa_set_tim”.)
The default value of the time-out is 1000 msec.
CAUTION