Installation manual

Chapter 8 PA Library

8-81

Sets velocity command value with seven float type configurations. After entering velocity

control mode, velocity command (“pa_odr_vel” or “pa_chk_cnt”) has to be issued every

time-out (maximum value: 1000 msec) setting by “pa_set_tim”. If command is not issued

within time-out, it is recognized as controller anomaly. The arm automatically stops

velocity control and sets in brake-stop status.

Return value:

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference:

pa_mod_vel Velocity mode setting

pa_chk_cnt Synchronization processing

pa_set_tim Time-out setting

Description example:

float spd[7];

pa_set_tim(ARM1, 20); ･･･Time-out setting

（200msec）

pa_mod_vel(ARM1, VM_XYZ, 0); ... Velocity mode setting

Hereafter, “pa_odr_vel” or “pa_chk_cnt” has to be issued, at least once, within

200msec.

spd[0] = -50.0; ... X

pd[1] = 40.0; ... Y

spd[2] = 100.0; ... Z

pa_odr_vel(ARM1, spd); ... Velocity alteration

spd[0] = 0.0; ... X

spd[1] = 0.0; ... Y

spd[2] = 0.0; ... Z

pa_odr_vel(ARM1, spd); ... Velocity clear

pa_sus_arm(ARM1, WM_NOWAIT); ･･･ Velocity control termination

AXIS is invalid except VM_ONE.

Remark