Installation manual

Chapter 7 Library Reference

FUNCTION LIST <> Page number

--- Arm status information loading function ----------------------------------

pa_get_mod <8-113> Arm control status loading

pa_get_ver <8-115> Motion controller S/W version number loading

pa_get_com <8-116> Communication status (no communication/simulation/ actual

machine) loading

pa_get_sts <8-117> Current arm information loading

pa_get_cnt <8-119> Current arm control counter loading

pa_get_err <8-120> Current arm error information loading

pa_get_agl <8-121> Current arm axis value loading

pa_get_xyz <8-122> Current arm tip position loading

pa_get_noa <8-123> Current arm orientation matrix loading

pa_get_ypr <8-124> Current arm position angle loading

pa_get_prm <8-125> Current arm parameter loading

pa_get_tar <8-127> Current arm target data loading

----------------------- (Additional function from Ver.3.0)-----------------------

pa_get_sav <8-128> Axis servo ON/OFF status acquisition

pa_sav_sts <8-129> Servo status acquisition

pa_get_smd <8-130> TEACH MODE acquisition from servo

pa_set_ddm <8-131> Dead man SW valid/invalid

pa_get_ddm <8-132> Dead man SW valid/invalid status acquisition

pa_set_lok <8-133> TEACH LOCK setting

pa_get_lok <8-134> TEACH LOCK acquisition

pa_tct_tim <8-135> Tact time (playback time) acquisition

pa_get_max <8-136> Board controllable arm numbers acquisition

pa_get_spt <8-137> Acquiring arm identification number

pa_set_sim <8-138> Simulation magnification setting

pa_set_inc <8-139> Real-time velocity setting

pa_get_sim <8-140> Simulation magnification acquisition

pa_get_inc <8-141> Real-time velocity acquisition