Installation manual

Chapter 8 PA Library
8-11
ｐａ＿ｓｕｓ＿ａｒｍ
Function
Stops the arm motion temporarily.
Syntax
long pa_sus_arm(ARM armno, long func)
armno Arm number (No.)
func Designation whether to wait or not until motion is completed.
Explanation
The arm designated by “armno” becomes servo-lock status if it is in motion.
Maintaining as it was before temporary-stop, continues the status kept by
“par_rsm_arm.”
This function creates motion by “func” as follows:
･Designates WM_WAIT ：does not return unless temporarily, motion stops
completely.
・Designates WM_NOWAIT：returns without confirming a temporary stop.
However, “pa_sus_arm” is executed instantly.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_rsm_arm
Description example
: .. Arm in motion
if (temporary stop-key is pushed)
pa_sus_arm(ARM1, WM_WAIT);
: .. While in arm servo lock
if (resuming key is pushed)
pa_rsm_arm(ARM1, WM_WAIT);
.. Arm servo lock released
(Resuming arm motion)