Installation manual

Appendix 4
Appendix 4-6
METHOD（ Method entity presence in J/S DLL, performed on thread. ）
・pa_js_start Starts velocity control.
Arm initialization operation is performed on another thread. Loading J/S slant at
designated cycle. Velocity control command output is performed to the arm.
Velocity control is not interrupted even if dragging EX3 operation display window on
account of employing another thread.
Joint angle display on screen cannot be renewed while dragging.
The following parameter is needed to call this method.
Object.pa_js_start(Mode,ArmNo,Axis,Interval,OffsetMM,OffsetDEG,DevNO)
Mode： Arm control mode （０：Actual machine １：Simulation）
ArmNo： Arm Number
Axis： Coordinates VM_XYZ1（Base coordinate linear velocity control）
VM_XYZ2（Tip coordinate linear velocity control）
VM_YPR1（Base coordinate rotational velocity
control ）
VM_YPR2（Tip coordinate rotational velocity
control ）
Interval： Velocity command output cycle [mSec]
OffsetDEG： Dead zone when in orientation control
OffsetMM： Dead zone when in position control
DevNO： Joystick device number
・pa_js_continue Acquires velocity command.
Acquires velocity command value while in velocity control.
The following parameter is needed to call this method.
Object.pa_js_continue(x,y,z,yaw,pitch,roll)
X： Command velocity toward Ｘ
Y： Command velocity toward Ｙ
Z： Command velocity toward Ｚ
Yaw： Yaw direction command velocity
Pitch： Pitch direction command velocity
Roll： Roll direction command velocity
・pa_js_stop Terminates velocity control（thread is also deleted.）
Parameter is not specially needed to call this method.
Object.pa_js_stop()