Installation manual

Chapter 7 Library Reference

FUNCTION LIST <> Page number

--- Digital input/output function --------------------------------------------------

pa_inp_dio <8-142> Digital input (32ch. unit input)

pa_oup_dio <8-143> Digital output (32ch. unit output)

pa_get_dio <8-144> Digital input (1ch. unit input)

pa_set_dio <8-145> Digital output (1ch. unit set)

pa_rst_dio <8-146> Digital output (1ch. unit reset)

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

pa_dio_msk <8-147> DIO mask setting

pa_get_msk <8-148> DIO mask acquisition

--- Function on parameter ------------------------------------------------

pa_set_tol <8-149> Tool information setting

pa_set_vel <8-150> Default velocity alteration

pa_lod_ctl <8-151> loading parameter to controller

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

pa_tst_nom <8-152> RETRAC creation ON/OFF setting

pa_get_rmd <8-153> RETRAC creation ON/OFF acquisition

pa_lod_rob <8-154> Robot model file loading

pa_lod_tol <8-155> Tool model file loading ﾞ

pa_sav_rob <8-156> model file saving ﾞ

pa_ena_nom <8-157> RETRAC calculation switching

pa_get_nom <8-158> Acquiring either T-matrix or RETRAC calculation

pa_tkn_nom <8-159> Acquiring RETRAC calculation OK/NOT OK

--- Other functions ------------------------------------------------------------

pa_map_ctl <8-160> Shared area mapping with controller

pa_fsh_chk <8-161> Waiting for control command processing completion

pa_fsh_sub <8-162> Waiting for control command processing completion

pa_req_ctl <8-163> Issuing command setting intrusion to controller

pa_req_sub <8-164> Issuing command setting intrusion to controller

pa_rst_ctl <8-165> Arm error information reset

pa_err_mes <8-166> Error message acquisition