Installation manual

Chapter 6 Programming
6-54
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_jou(ARM0, JM_VSET);
Redundant axis velocity control mode selection
：
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;
pa_odr_vel(ARM0, spd);
Velocity command input
：
spd[0] = 30.0 * M_PI / (double)180.0;
pa_odr_vel(ARM0, spd);
Velocity command input
：
pa_sus_arm(ARM0, WM_WAIT);
Velocity command termination
Example: for Visual BASIC
Dim ret As Long
Dim spd(6) As Single
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)) Velocity command initialization
ret = pa_mod_jou(ARM0, JM_VSET)
：
spd(0) = -5.0 * PAI / 180.0
ret = pa_odr_vel(ARM0, spd(0))
：
spd(0) = 30.0 * PAI / 180.0
ret = pa_odr_vel(ARM0, spd(0))
：
ret = pa_sus_arm(ARM0, WM_WAIT)