Installation manual

Chapter 6 Programming
6-65
⑥ Designates the target tip position/orientation.： pa_odr_dpd
As the target value becomes 2msec cycle, commands should be taken into account
RMRC limit velocity (both Linear and rotational velocity). If the target axis angle comes
off- limits, following errors occur and the brake, might automatically stop arm.
ERR_RMRC_X X-axis synchronization error in RMRC control
ERR_RMRC_Y Y-axis synchronization error in RMRC control
ERR_RMRC_Z Z-axis synchronization error in RMRC control
⑦ Terminates the axis real-time control mode.
The axis real-time control mode is terminated by the brake-stop (pa_stp_arm) or a
temporary stop (pa_sus_arm).
Example: for Visual C++
MATRIX mat;
ANGLE an;
pa_set_tim(ARM0, 20);
Time-out setting（200msec）
pa_exe_saf(ARM0, WM_WAIT); Move to safe orientation
pa_get_agl(ARM0,&an); Current angle loading
pa_get_noa(ARM0, mat); Current position/orientation loading
pa_odr_dpd(ARM0, mat, &an); Target position/orientation initialization
pa_mod_jou(ARM0, JM_ON);Redundant axis control mode setting (all axes restriction)
pa_mod_dpd(ARM0); RMRC real-time control mode selection
：
From here to “pa_sus_arm,” “pa_odr_axs” or “pa_chk_cnt” one has to be issued
within 200 msec. cycle.
。
：
while (Conditional text){
Target position/orientation T-matrix creation ：mat
Creation of axis value for the redundant axis restriction data ：an
：
pa_odr_dpd(ARM0, mat, &an);
Setting for Target position/orientation T-matrix and
axis value for the restriction data
}
pa_sus_arm(ARM0, WM_WAIT); RMRC real-time control mode termination