Installation manual

Chapter 7 Library Reference
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19
PA library data structure (for Windows Visual BASIC)
・Axis data structure： 6-axis/7-axis angle storing structure
Type ANGLE
S1 As Single S1 axis value [rad]
S2 As Single S2 axis value [rad]
S3 As Single S3 axis value [rad]
E1 As Single E1 axis value [rad]
E2 As Single E2 axis value [rad]
W1 As Single W1 axis value [rad]
W2 As Single W2 axis value [rad]
End Type
・Arm status structure: Structure set by the motion controller
Type ARMSTATUS
max As Long Board controllable arm numbers 1or2
ARM As Long Arm identification number 0or1
Axnum As Long Arm axis numbers
typ As Long Arm type
drv As Long Servo driver classification
dio As Long Extension DIO board exist / not exist
remote As Long operation mode (valid / invalid)
count As Long Control counter value
error As Long Error code
agl As ANGLE Current axis value
NOAP(3, 2) As Single Current tip orientation matrix
ypr(2) As Single Current orientation
End Type