Installation manual

Chapter 7 Library Reference
7-
4
PA library Data Structure （for Windows Visual C++）
・Parameter Structure:
typedef struct{
float rezl; Resolver resolution
long pul[7]; Position limiter（＋）
long pdl[7]; Position limiter（－）
long vel[7+2]; Velocity limiter
long dev[7+2]; Default velocity
float lim[7 + 2];
float ceh[7 + 2];
float cem[7 + 2];
float cel[7 + 2];
float pg1[7]; Position control gain１
float pg2[7]; Position control gain２
float vg1[7]; Velocity control gain
float tg1[7]; Force control gain
float pcm[7]; position control selection matrix
float fcm[7]; Force control selection matrix
float arl[7]; Arm length
float arg[7]; Axis gravity center position
float arw[7]; Axis weight
float hom[7]; Home position recovery target value
float saf[7]; Safety position recovery target value
float esc[7]; Escape position recovery target value
float tol[7]; Tool parameter
float fvl[7];
long dmy[7];
long spa[7]; Spare
}PARAM, *PARAMP;
・Digital I/O Sstructure:
typedef struct{
unsigned char io1;
unsigned char io2;
unsigned char io3;
unsigned char io4;
}DIOSTATUS, *DIOSTATUSP;