Installation manual

Chapter 6 Programming
6-28
Example: for Visual C++
:
pa_exe_esc(ARM0,WM_WAIT);
pa_mov_ypr(ARM0,0.0,20.0*PI/180.0,0.0,WM_WAIT); ･･･ (a)
: A 20[deg] rotation on Y-axis in the mechanical interface coordinate system
:
pa_set_tol(ARM0,0.0,0.0,0.0,0.0); ･･･ Set tool offset (float type)
pa_mov_ypr(ARM0,0.0,20.0*PI/180.0,0.0,WM_WAIT); ･･･ (b)
: A 20[deg] rotation on y-axis in the mechanical interface (tool) coordinate system
Setting tool information/offset values, the position will be changed even with
the tip orientation conversion function. To shift the tip to the work face
intended, use
“pa_set_tol.”
Example: for Visual C++
Dim ret As Long
ret = pa_exe_esc(ARM0,WM_WAIT)
ret = pa_mov_YPRO(ARM0,0.0,20.0*PAI/180.0,0.0,WM_WAIT)
:
:
ret = pa_set_tol(ARM0,0.0,0.0,0.0,0.0)
ret = pa_mov_YPR0(ARM0,0.0,20.0*PAI/180.0,0.0,WM_WAIT)
(b)
(a)
θ
θ
z
x
y
y-axis in the mechanical interface (tool) coordinate system
y y-axis in the mechanical interface coordinate system
Arm tip before shifting
θ = Rotation on y-axis (pitch)
off