Installation manual

Chapter 6 Programming
6-46
Example: for Visual C++
float spd[7];
：
pa_set_tim(ARM0, 20);
Time-out setting（200msec）
：
for(i=0;i<7;i++) spd[i] = 0.0;
pa_odr_vel(ARM0, spd);
Velocity command initialization
pa_mod_vel(ARM0, VM_ONE, S1｜W2); M motion axis selection (S1 & W2-axis)
：
From here to “pa_sus_arm,” “pa_odr_vel” or “pa_chk_cnt” has to be issued within 200
msec cycle.
：
spd[0] = -5.0 * M_PI / (double)180.0;
spd[6] = -10.0 * M_PI / (double)180.0;
pa_odr_vel(ARM0, spd);
Velocity command input
spd[0] = 10 * M_PI / (double)180.0;
spd[6] = 5 * M_PI / (double)180.0;
pa_odr_vel(ARM0, spd(0));
Velocity command input
：
pa_sus_arm(ARM0, WM_WAIT);
Velocity control termination
Example: for Visual BASIC
Dim spd(6) As Single
Dim ret As Long
ret = pa_set_tim(ARM0, 20)
For i=0 To 6 Step 1
spd(i) = 0.0
Next i
ret = pa_odr_vel(ARM0, spd(0)) V
elocity command initialization
ret = pa_mod_vel(ARM0, VM_ONE, S1+W2)
：
spd(0) = -5 * PAI / 180.0
spd(6) = -10 * PAI / 180.0
ret = pa_odr_vel(ARM0, spd(0))
：
spd(0) = 10 * PAI / 180.0
spd(6) = 5 * PAI / 180.0
ret = pa_odr_vel(ARM0, spd(0))
ret = pa_sus_arm(ARM0, WM_WAIT)