Installation manual

Chapter 7 Library Reference
7-
3
PA library Data Structure （for Windows Visual C++）
・Axis data structure： 6-axis/7-axis angle storing structure:
typedef struct {
float s1; S1 axis value [rad]
float s2; S2 axis value [rad]
float s3; S3 axis value [rad]
float e1; E2 axis value [rad]
float e2; E3 axis value [rad]
float w1; W1 axis value [rad]
float w2; W2 axis value [rad]
}ANGLE, *ANGLEP;
・Arm Status Structure ： Structure set by the motion controller:
typedef struct {
long max; Board controllable arm numbers 1or2
long arm; Arm identification number 0or1
long axis; Arm axis numbers
long typ; Arm type
long drv; Servo driver classification
long dio; Extension DIO board exist / not exist
long remote; operation mode (valid / invalid)
long count; Control counter value
long error; Error code
ANGLE angle; Current axis value
MATRIX noap; Current tip orientation matrix
float ypr[3]; Current orientation
}ARMSTATUS, *ARMSTATUSP;