Installation manual

Chapter 8 PA Library

8-6

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Function

Motion controller operation start

Syntax

long pa_sta_arm(ARM armno)

armno Arm number (No.)

Explanation

The controller designated by “armno” starts to communicate with servo driver.

The controller becomes ready to receive motion command.

This function has to be always performed except initialization.

Return value

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

For return value, there is controller error other than “ERR_OK.”

Refer to error table.

Reference

pa_ext_arm

Description example

#include <pa.h> .. Library prototype declaration

#include <paerr.h> .. Error code

main()

{

pa_ini_sys();

pa_opn_arm(ARM1); .. Arm number selection

pa_sta_arm(ARM1);

Arm motion function

pa_ext_arm(ARM1);

pa_cls_arm(ARM1);

pa_ter_sys();

}

pa.h ：Needs when the library is used.

paerr.h ：Needs on account error names are declared

All these descriptions are always needed to use the library.

This sentence is omitted in following description examples.