Installation manual

Chapter 8 PA Library

8-8

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Function

Starts arm motion with simulation mode.

Syntax

long pa_sta_sim(ARM armno)

armno Arm number (No.)

Explanation

The controller designated by “armno” starts inner servo driver simulation and

controls it.

This library is used in place of “pa_sta_arm.” Program can be debugged without

moving arm.

Return value

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference

pa_ext_sim

Description example

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

#include <paerr.h> .. Error code

main()

{

pa_ini_sys();

pa_opn_arm(ARM1); .. Arm number 1 selection

pa_sta_sim(ARM1); .. Uses “pa_sta_arm” when the actual machine is

operated.

Arm motion function

pa_ext_sim(ARM1); .. Uses “pa_ext_arm” when the actual machine is

operated.

pa_cls_arm(ARM1);

pa_ter_sys();

}

Control can be terminated with “pa_ext_arm,” also, when in simulation (pa_sta_sim).