Installation manual

Chapter 6 Programming
6-41
６．５．５．２ Redundant Axis Operation Control
The redundant axis control has the advantage of a 7-axis manipulator. It controls
elbow position, only, without changing the tip position/orientation.
To shift the redundant axis control, choose JMMODE in “pa_mod_jouin,” use the
macro-definition as follows:
JM_VSET Redundant axis velocity control
JM_SET Redundant axis parameter alteration
JM_RESET Redundant axis parameter resetting
（１）Redundant axis velocity control
The parameter of the redundant axis control is operated at a constant velocity
The parameter operation method uses “pa_odr_vel.”
For further information, refer to “velocity Control” in the section 6.6
In this control, redundant axis control mode is automatically shifted to the S3-axis
interpolation mode.
Example: for Visual C++
float spd[7];
pa_mod_jou(ARM0, JM_VSET);
Shifts to the redundant axis velocity control
spd[0] = 20.0 * M_PI / (double)180.0;
･･･Unit [rad/sec]
In the case of the redundant axis velocity control, “spd[0]” can be
used. Control the redundant axis at 20 [deg/sec] velocity.
pa_odr_vel(ARM0, spd); Velocity alteration
Example: for Visual BASIC
Dim spd(6) As Single
Dim ret As Long
ret = pa_mod_jou(ARM0, JM_VSET)
spd(0) = 20.0 * PAI / 180.0
ret = pa_odr_vel(ARM0, spd(0))
In this control, after “pa_mod_jou” is issued, “pa_odr_vel” has to be issued every
1000msec. at maximum.
For further information, refer to “velocity control” in the section 6.6 and “(4)
Redundant axis velocity control.)
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