MITSUBISHI HEAVY INDUSTRIES, LTD.
General Purpose Robot
PA10 SERIES
PROGRAMMING MANUAL
INDEX
Page
Chapter 1 Foreword 1-1
Chapter 2 Arm designation and motion 2-1
２．１ Axis designation 2-2
２．２ Coordinate system 2-4
２．３ Coordinate system creation 2-5
２．４ Rotation direction on coordinates 2-8
２．５ Transformations 2-9
Chapter 3 Control Mode 3-1
３．１ Motion control mode 3-2
３．２ Trajectory control mode 3-6
３．３ Axis angle interpolation 3-7
３．４ RMRC tip interpolation 3-8
３．５ Velocity control 3-11
Chapter 4 Motion and operation control section 4-1
４．１ Motion control section 4-2
４．２ Operation control section 4-3
４．３ Operation and motion control section interface 4-4
Chapter 5 Program Development Environment 5-1
５．１ Development and implementing environment 5-2
５．２ PA library configuration 5-2
５．３ PA library directory composition 5-3
５．４ Notes for the application development employing Visual C++ 5-6
５．５ Notes for the application development employing Visual BASIC 5-8
This is the programming manual of the new concept robot “Mitsubishi heavy Industries, Ltd. – General Purpose Robot: PA” to be employed in various ways for a wide range of customers. The “PA” has two controllers: at the operation and motion control section. At the operation control section, the C- language library (PA library) is provided to access the motion control section. This manual explains how to use this “PA library” in C and BASIC language.
>>>Get The File | Download here | PDF Manual
This is the programming manual of the new concept robot “Mitsubishi heavy Industries, Ltd. – General Purpose Robot: PA” to be employed in various ways for a wide range of customers. The “PA” has two controllers: at the operation and motion control section. At the operation control section, the C- language library (PA library) is provided to access the motion control section. This manual explains how to use this “PA library” in C and BASIC language.
>>>Get The File | Download here | PDF Manual