Installation manual

Chapter 7 Library Reference
7-
7
PA library Data Structure （for Windows Visual C++）
・Sensor correction data structure:
typedef struct {
long Enable; Designation bit
float _xyz[3]; Mechanical interface coordinate absolute
deviation correction value
float Ixyz[3]; Mechanical interface coordinate relative
deviation correction value
float _XYZ[3]; Base coordinate absolute deviation
correction value
float IXYZ[3]; Base coordinate relative deviation correction
value
float _wave[3]; Trajectory coordinate absolute deviation
correction value
float Iwave[3]; Trajectory coordinate relative deviation
correction value
} TRANSMAT, *TRANSMATP;
・Arm target value structure:
typedef struct {
ANGLE angle; Target value
MATRIX noap; Tip position/orientation matrix
float ypr[3]; Tip position
} ARMTARGET, *ARMTARGETP;
・Structure to send commands from the motion control to the servo driver:
typedef struct {
long sig;
long trq;
long vel;
} O8DRIVE;
・Structure to send commands from the servo driver to the motion control:
typedef struct {
long sts;
long agl;
long vel;
long trq;
} I8DRIVE;