Installation manual

Chapter 6 Programming

6-51

６．６．４ Tip linear/rotational velocity control

In this control, tip linear motion velocity ( Vx, Vy and Vz ) and rotational velocity

(Vyaw, Vpitch and Vroll) on each coordinate axis in the selected coordinates system

are simultaneously provided.

for Visual C++

・Base coordinate system tip linear velocity control：

pa_mod_vel( ARM0, VM_XYZYPR, 0 )

・Mechanical Interface coordinate tip linear/rotational velocity control：

pa_mod_vel( ARM0, VM_xyzypr, 0 )

for Visual BASIC

・Base coordinate system tip linear velocity control：

pa_mod_vel( ARM0, VM_XYZYPR1, 0 )

・Mechanical Interface coordinate tip linear/rotational velocity control：

pa_mod_vel( ARM0, VM_XYZYPR2, 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[5]” located in “float spd[7]” inside

“pa_odr_vel.”

③ Chooses the base coordinate linear motion/rotational velocity control mode.

：

pa_mod_vel

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

coordinate linear motion/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_XYZYPRI” it has to be set.

④ Input a velocity command orders.： pa_odr_vel

“spd[0]～spd[5]” located in “float spd[7]” inside “pa_odr_vel” Is used.

The tip is controlled at the linear motion velocity: X=100.0[mm/s],

Z=50.0[mm/s] and the rotation velocity: pitch=0.5[rad/s]. Velocity command

values have to be set with [rad/sec].

⑤ 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