Installation manual

Chapter 7 Library Reference
7-
15
PA library characteristic type definition （for Windows Visual C++）
・Sensor correction coordinate classification:
typedef unsigned long TRANSMODE;
#define MODE_xyz (TRANSMODE)0x01 Adds absolute correction
value in the mechanical
interface coordinate
system
#define MODEIxyz (TRANSMODE)0x02 Adds relative correction
value in the mechanical
interface coordinate
system
#define MODE_XYZ (TRANSMODE)0x04 Adds absolute correction
value in the base
coordinate system
#define MODEIXYZ (TRANSMODE)0x08 Adds relative correction
value in the base
coordinate system
#define MODE_wave (TRANSMODE)0x10 Adds absolute correction
value in the trajectory
coordinate system
#define MODEIwavｅ (TRANSMODE)0x20 Adds relative correction
value in the trajectory
coordinate system
・Teach point attribute designation:
typedef unsigned long PNTID;
#define PA_SETID (PNTID)0x7304
・Circle & arc teach point number designation:
typedef unsigned long PNTNO;
#define PN_1 (PNTNO)1
#define PN_2 (PNTNO)2
#define PN_3 (PNTNO)3
・JUMP data valid/invalid (in teach data)
typedef unsigned long JUMPONOFF;
#define JMP_ON (JUMPONOFF)1 Valid
#define JMP_OFF (JUMPONOFF)0 Invalid
・JUMP data valid/invalid (in JUMP data)
typedef unsigned long JUMPENABLEDISABLE;
#define JMPENABLE (JUMPENABLEDISABLE)0x01000000 Valid
#define JMPDISABLE (JUMPENABLEDISABLE)0x00000000 Invalid