Installation manual

Chapter 6 Programming

6-49

６．６．３ Tip rotational velocity control:

In this control, the tip linear motion velocity (Ｖyaw，Ｖpitch，Ｖ roll) on each

coordinate axis in the selected coordinates, is provided. The tip position does not

change.

For Visual C++

・Base coordinates tip rotational velocity control：pa_mod_vel( ARM0, VM_YPR, 0 )

・Mechanical Interface coordinate tip rotational velocity control

：pa_mod_vel( ARM0, VM_ypr, 0 )

For Visual BASIC

・Base coordinates tip rotational velocity control：pa_mod_vel( ARM0, VM_YPR1, 0 )

・Mechanical Interface coordinate tip rotational velocity control

：pa_mod_vel( ARM0, VM_YPR2, 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 rotational velocity control mode.： pa_mod_vel

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

rotational velocity control mode).

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_YPR1” 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.

The tip position is, for instance, controlled to rotate on the Y-axis at the velocity

of pitch=0.5[rad/s]. Velocity command values have to be set with [rad/sec].

⑤ Input velocity command orders.： pa_odr_vel

The tip position is, for instance, controlled to rotate on the Y-axis at the velocity

of pitch=1.0 [rad/s]. Velocity command values have to be set with [rad/sec].

⑥ Terminates a velocity control.： pa_sus_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