Installation manual

Chapter 8 PA Library
8-10
ｐａ＿ｓｔｐ＿ａｒｍ
Function
The brake stops arm motion.
Syntax
long pa_stp_arm(ARM armno, long func)
armno Arm number (No.)
func Designation whether to wait or not until motion is completed.
Explanation
The controller designated by “armno” stops servo and performs brake-stop to
arm.
This function creates motion by “func” as follows:
・Designates WM_WAIT ：does not return unless motion stops completely.
・Designates WM_NOWAIT：returns without confirming a stop.
However, “pa_stp_arm” is performed instantly.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Description example
: .. Arm in motion
if (stop key is pushed)
pa_stp_arm(ARM1,WM_WAIT);
: .. Arm brake-stop