Installation manual

Chapter 7 Library Reference
7-
41
FUNCTION LIST <> Page number
--- System Setting & Initialization Function ----------------------------------------------
pa_ini_sys <8-2> PA library initialization
pa_ter_sys <8-3> PA library termination
--- Arm status control function --------------------------------------------------
pa_opn_arm <8-4> Open arm (control arm selection)
pa_cls_arm <8-5> Close arm (control arm separation)
pa_sta_arm <8-6> Controller operation start (Servo driver communication start)
pa_ext_arm <8-7> Controller operation end (Servo driver communication end)
pa_sta_sim <8-8> Simulation control start (simulation communication start)
pa_ext_sim <8-9> Simulation control end (simulation communication end)
pa_stp_arm <8-10> Arm brake-stop
pa_sus_arm <8-11> Arm temporarily stop
pa_rsm_arm <8-12> Arm temporarily-stop-release
--- Axis motion control function ---------------------------------------------------
pa_exe_axs <8-13> Axis angle control
pa_exe_hom <8-14> Axis angle control to home position
pa_exe_esc <8-15> Axis angle control to escape position
pa_exe_saf <8-16> Axis angle control to safety position
--- Tip position/orientation (RMRC) deviation control function --------------------------------
pa_mov_XYZ <8-17> Position deviation control in robot coordinate system
pa_mov_YPR <8-18> Orientation deviation control in robot coordinate system
pa_mov_xyz <8-19> Position deviation control in tip coordinate system
( available only for Visual C++)
pa_mov_XYZ0 <8-19> Position deviation control in tip coordinate system
( available only for Visual BASIC)
pa_mov_ypr <8-20> Orientation deviation control in tip coordinate system
( available only for Visual C++)
pa_mov_YPR0 <8-20> Orientation deviation control in tip coordinate system
( available only for Visual BASIC)
pa_mov_mat <8-21> Tip position /orientation absolute position control