Installation manual

Chapter 7 Library Reference

PA library characteristic type definition （for Windows Visual BASIC）

・Target tip matrix control mode classification:

Public Const MM_XYZ As Long = &H5680 Tip position control

Public Const MM_NOA As Long = &H5681 Tip orientation control

Public Const MM_XYZNOA As Long = &H5682 Tip position/orientation control

・Direct control classification: (Optional function)

Public Const DM_STOP As Long = 0 Direct control stop

Public Const DM_START As Long = 1 Direct control start

Public Const ARM_STANDING As Long = 1 Floor mounted

Public Const ARM_HANGING As Long = -1 suspending from ceiling

・DIO port numbers:

Public Const DP_PORT1 As Long = 0 DIO 0 port selection

Public Const DP_PORT2 As Long = 1 DIO 1 port selection

Public Const DP_PORT3 As Long = 2 DIO 2 port selection

Public Const DP_PORT4 As Long = 3 DIO 3 port selection

Public Const DPO_PORT1 As Long = 4 DO 0 port selection

Public Const DPO_PORT2 As Long = 5 DO 1 port selection

Public Const DPO_PORT3 As Long = 6 DO 2 port selection

Public Const DPO_PORT4 As Long = 7 DO 3 port selection

Public Const DPX_PORT1 As Long = 8 DO 0 port selection

Public Const DPX_PORT2 As Long = 9 DO 1 port selection

Public Const DPX_PORT3 As Long = 10 DO 2 port selection

Public Const DPX_PORT4 As Long = 11 DO 3 port selection

DPO_XXXXX is used when acquiring contents set to be outputted by PA library.

DPX_XXXXX is used when acquiring current output value (related to information

in PA library or playback data).

・DIO channel numbers:

Public Const DC_CH1 As Long = 0 Channel 1 selection

Public Const DC_CH2 As Long = 1 Channel 2 selection

Public Const DC_CH3 As Long = 2 Channel 3 selection

Public Const DC_CH4 As Long = 3 Channel 4 selection

Public Const DC_CH5 As Long = 4 Channel 5 selection

Public Const DC_CH6 As Long = 5 Channel 6 selection

Public Const DC_CH7 As Long = 6 Channel 7 selection

Public Const DC_CH8 As Long = 7 Channel 8 selection