Installation manual

Chapter 6 Programming
6-45
６．６．１ Axis Velocity Control
Choosing the control axis from S1 to W2, the velocity command (v) is provided.
Program Description:
① Sets time-out ：pa_set_tim
The default time-out is 1000 msec. This time can be issued only when it needs
to be altered.
② Initializes velocity command: pa_odr_vel
All has to be set “ 0 ” using “spd[0]～spd[6]” located in “float spd[7]” inside
“pa_odr_vel.”
③ Chooses “motion axis = S1, W2” in the axis velocity control mode. ：pa_mod_vel
“VELMODE” in “pa_mod_vel” has to be set in “VM_ONE” (the axis velocity
control mode). Plural axes can be controlled simultaneously.
If this PA library is issued, only the control mode is changed. The arm does not
move. ATTENTION! Within a set time-out, if the velocity command (“pa_odr_vel”
and “pa_chk_cnt” can be used) is not issued until the velocity control termination,
after issuing Pa library. It causes a brake-stop, responding as if an accident
occurred during control.
④ Input velocity command: pa_odr_vel
“spd[0]～spd[6]” located in “float spd[7]” inside “pa_odr_vel” is used.
S1 axis － rotates at 5［deg/sec］velocity.
W2 axis －rotates at 10［deg/sec］velocity.
The velocity command value has to be designated with［rad/sec］.
COVERS1 -1070 S1axis Velocity Control Angle exceeded
COVERS2 -1071 S2 axis Velocity Control Angle exceeded
COVERE1 -1073 E1 axis Velocity Control Angle exceeded
COVERE2 -1074 E2 axis Velocity Control Angle exceeded
COVERW1 -1075 W1 axis Velocity Control Angle exceeded
COVERW2 -1076 W2 axis Velocity Control Angle exceeded
⑤ Input velocity command: pa_odr_vel
S1 axis － rotates at 10［deg/sec］velocity.
W2 axis －rotates at 5［deg/sec］velocity.
⑥ Terminates velocity control: pa_sus_arm
This command terminates velocity control with a brake-stop (pa_stp_arm) or
temporary-stop （pa_sus_arm）.
Remark