Installation manual

Chapter 6 Programming

6-53

６．６．５ Redundant axis velocity control

The S3-axis rotation velocity (Ｖs3) is provided for the S3-axis. At this moment,

the tip position/orientation does not change.

Program description:

① Sets time-out ：pa_set_tim

The default time-out is 1000msec. This time can be issued only when it needs to

be altered.

② Initializes velocity command： pa_odr_vel

In the case of the redundant axis velocity control, only “spd[0]” in “float spd[7]”

can be used and has to be set “ 0. “

③ Chooses the control axis in the redundant axis velocity control mode.

：

pa_mod_jou

“VELMODE” in “pa_mod_vel” has to be set in “VM_XPR*”

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 command orders ： pa_odr_vel

For the redundant axis velocity control, only “spd[0]” in “float spd[7]” can be

used. Without changing the tip position/orientation, the redundant axis is

controlled at –5 ［deg/sec］ (S3-axis motion velocity).

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

⑤ Input velocity command orders. ： pa_odr_vel

Without changing the tip position/orientation, the redundant axis is controlled at

30 ［deg/sec］ (S3-axis motion velocity).

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）.

7-axis arm functio

Remark