Installation manual

Chapter 6 Programming
6-57
６．８ Real-time Control
This control is for complex applications. As it is explained below, if the tip position/
orientation and each axis angle in every control cycle are provided, the arm performs
exactly as it is mentioned. With this method, interpolation and coordinate conversion, not
used in the motion control section, can be freely employed in the operation control
section.
In a real-time control, if PA library (pa_odr_axs or pa_odr_dpd), providing command value
every 1000msec (time-out) maximum, is not issued, the brake stops the operation as if an
accident occurred during control. The default time-out is 1000 msec. This time can be
set with “pa_set_tim” when it is needed.
There are two real control modes as follows:
・Axis real-time control mode・・・controls arm providing axis target angle more than 2msec
cycle without interpolation.
・RMRC real-time control mode・・・controls arm providing T-matrix indicating the target
tip position/orientation in every cycle (more than 2msec.)
and axis value for restriction data without interpolation.
Taking into account the limit value to, to maintain motion, the providing value cannot
exceed the control cycle (2msec) of the motion control CPU.
Limit value Maximum command value
Tip position 1000 mm/sec 2 mm/ 2 msec
Tip orientation 0.785 rad/sec 0.00157 rad/ 2 msec
Axis velocity (each axis has a different value)
S1 axis
S2 axis
1.0 rad/sec
0.002 rad/ 2msec
S3 axis
W1 axis
2.0 rad/sec
0.004 rad/ 2msec
E2 axis
W1 axis
W2 axis
6.28 rad/sec 0.01256 rad/ 2msec
Remark