Installation manual

Chapter 8 PA Library
8-18
ｐａ＿ｍｏｖ＿ＹＰＲ
Function
RMRC Base coordinate orientation deviation control
Syntax
long pa_mov_YPR(ARM armno, float Y, float P, float R, long func)
armno Arm number (No.)
Y Base coordinate rotation on X axis orientation deviation [rad]
P Base coordinate rotation on Y axis orientation deviation [rad]
R Base coordinate rotation on Z axis orientation deviation [rad]
func Designation whether to wait or not until motion is completed.
Explanation
With base coordinate axis as standard, the tip orientation (direction) rotates at
exact distance created from designated deviation: Yaw, Pitch and Roll. Tip
position does not change.
Tip rotational velocity is interpolated creating modified sin curve profile for
start-up/shutdown.
This function creates motion by “func” as follows:
・Designates WM_WAIT ：does not return unless motion is completed.
・Designates WM_NOWAIT：returns without confirming motion completion.
PA-10 RMRC control: method to interpolate arm tip trajectory and orientation
setting position and orientation as the target value.
In PA-10 RMRC control, uncontrollable areas exist.
This is defined as a singularity. It is the point where E1 axis becomes 0 [deg]
(930 [mm] length from S2 rotation origin to W1 rotation origin).
For more, refer to programming manual in chapter 3.
No warning occurs even if the tip target orientation calculated by the designated
deviation exceeds arm motion range.
If arm motion continues and exceeds motion range, the operation is automatically
switched to temporary-stop status. Immediately, the servo-lock performs.
When LENGTH value is beyond 925 [mm] before being in motion, this motion is
not performed as the motion range exceeds.
Two motion range types: LENGTH 925 [mm] available for RMRC control and axis
angle limit. If exceeding either limit, arm motion is not performed.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
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Remark