Installation manual

Chapter 6 Programming
6-55
６．７ Direct Control ….Optional function
This mode is to control playback performance reviving memorized each axis data, as
teach data, when in a manual operation. If “pa_chk_cnt” is not issued every 1000
msec. (time-out) during direct control, it is recognized as malfunction. The brake
stops the operation.
Program Description:
① Sets time-out. ： pa_set_tim
The default time-out is 1000 msec. This time can be issued only when itneeds
to be altered.
② Switchs to the direct control. ： pa_mod_dir
DM_START ： It becomes at servo-stop status
③ Chooses the axis to be controlled, starts the self weight compensated control
：
pa_wet_ded
For the control axis selection, choose the axis of pa_wet_ded, then, use
macro-definitions below:
For the 6-axis, it is: “LOCKAXIS_S3 ： S1｜S2｜E1｜E2｜W1｜W2.”
In the case of Visual BASIC:
LOCKAXIS_S3 ： S1＋S2＋E1＋E2＋W1＋W2
The default is: LOCKAXIS_S3.
After issuing this library, if “pa_chk_cnt” is not issued every 1000 msec.
(time-out), it is recognized as malfunction. The brake stops the operation.
If axis angle limit is exceeded during direct control, the following errors occur
and the brake stops the operation. The direct control is automatically
terminated.
DOVERS1 -2030 Direct control S1 axis angle exceeded
DOVERS2 -2031 Direct control S2 axis angle exceeded
DOVERS3 -2032 Direct control S3 axis angle exceeded
DOVERE1 -2033 Direct control E1 axis angle exceeded
DOVERE2 -2034 Direct control E2 axis angle exceeded
DOVERW1 -2035 Direct control W1 axis angle exceeded
DOVERW2 -2036 Direct control W2 axis angle exceeded
④ Terminate the direct control. ： pa_mod_dir
DM_STOP： It terminates the direct control.
Remark