Installation manual

Chapter 6 Programming

6-47

６．６．２ Tip linear velocity Control:

In this control, tip linear motion velocity ( Vx, Vy, Vz ) on each coordinate axis, in

the selected coordinates, is provided. The tip posture does not change.

For Visual C++

・Base coordinates tip linear velocity control： pa_mod_vel( ARM0, VM_XYZ, 0 )

・Mechanical Interface coordinate tip linear velocity control

：pa_mod_vel( ARM0, VM_xyz, 0 )

For Visual BASIC

・Base coordinates tip linear velocity control： pa_mod_vel( ARM0, VM_XYZ1, 0 )

・Mechanical Interface coordinate tip linear velocity control

：pa_mod_vel( ARM0, VM_XYZ2, 0 )

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[3]” located in “float spd[7]” inside

“pa_odr_vel.”

③ Chooses the base coordinate linear velocity control mode.： pa_mod_vel

“VELMODE” in “pa_mod_vel” has to be set in “VM_XYZ*” (the base

coordinate linear velocity).

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.

※ For Visual Basic, “VM_XYZ1” it has to be set.

④ Input command orders： pa_odr_vel

“spd[0]～spd[2]” located in “float spd[7]” inside “pa_odr_vel” Is used.

This order controls the tip position moving linearly at the velocity of

X=10.0[mm/s], Y=-20.0[mm/s], Z=30.0[mm/s].

Velocity command values have to be set with [mm/sec].

⑤Input velocity command orders.： pa_odr_vel

This order controls the tip position moving linearly at the velocity of

Y=-20.0[mm/s]. Velocity command values have to be set with [mm/sec].

⑥ Terminates a velocity control.： pa_sys_arm

This command terminates the velocity control with a brake-stop (pa_stp_arm)

or temporary-stop （pa_sus_arm）.

As this method is the RMRC control, regarding errors, refer to “RMRC control

(6-axis arm)” in the section 6.4 and “RMRC control (7-axis arm)” in the section 6.5.

Remark