Installation manual

Chapter 7 Library Reference

PA library characteristic type definition （for Windows Visual C++）

・Teach data pointer operation classification:

typedef unsigned long PNTMOVE;

#define PM_TOP (PNTMOVE)0x7100 Moves pointer to top.

#define PM_NEXT (PNTMOVE)0x7101 Pointer forward, once.

#define PM_PRIV (PNTMOVE)0x7102 Pointer backward, once.

#define PM_BTM (PNTMOVE)0x7103 Moves pointer to bottom.

#define PM_JMP (PNTMOVE)0x7104 Moves pointer to designated

number.

#define PM_CIR (PNTMOVE)0x7105 Circle teach point searched,

moving pointer to teach point

found first.

#define PM_ARC (PNTMOVE)0x7106 Arc teach point searched, moving

pointer to teach point found first.

・Default velocity alteration classification:

typedef unsigned long VELTYPE;

#define VT_ONEVEL (VELTYPE)0 Each axis default velocity

alteration

#define VT_XYZVEL (VELTYPE)1 Tip position default velocity

alteration

#define VT_YPRVEL (VELTYPE)2 Tip orientation default velocity

alteration

・Velocity control mode classification:

typedef unsigned long VELMODE;

#define VM_XYZ (VELMODE)0x200 Base coordinate linear velocity control

#define VM_YPR (VELMODE)0x201 Base coordinate rotational velocity control

#define VM_xyz (VELMODE)0x202 Mechanical interface coordinate linear

velocity control

#define VM_ypr (VELMODE)0x203 Mechanical interface coordinate rotational

velocity control

#define VM_ONE (VELMODE)0x204 Each axis velocity control

#define VM_XYZYPR (VELMODE)0x205 Base coordinate linear/rotational

velocity control

#define VM_xyzypr (VELMODE)0x206 Mechanical interface coordinate

linear/rotational velocity control