Installation manual
Chapter 8 PA Library
8-13
pa_exe_axs
Function
Performs each axis motion.
Syntax
long pa_exe_axs(ARM armno, AXIS axis, ANGLEP angle, long func)
armno Arm number (No.)
axis designates by “enum AXIS”: motion axis designation.
Plural axes can be selected. (Example: S1 | S2 | S3 )
angle Motion angle: is designated by pointer type “ANGLEP” to structure
ANGLE
func Designation whether to wait or not until motion is completed.
Explanation
The axis designated by “axis” creates motion at default angle velocity to the angle
designated by “angle”.
This function creates motion by “func” as follows:
・Designates WM_WAIT :does not return unless motion stops completely.
・Designates WM_NOWAIT:returns without confirming motion completion.
When the designated axis target angle exceeds its axis motion range, its target
angle is altered to motion range allowing maximum value. Automatic target value
alteration is reported to users with the warning: “target angle exceeded.”
Angle velocity default value employs default velocity.
For alteration, arm parameter has to be changed. Arm parameter alteration
method can be referred to parameter setting manual or “pa_set_vel.”
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_set_vel
Description example
:
ANGLE ang;
ang.s1=1.57;
ang.s2=1.57;
ang.w2=1.57;
pa_exe_axs(ARM1, S1|S2|W2, &ang, WM_WAIT);
.. Moves S1, S2 and W2 axis at the distance of 1.57 [rad]
:
Remark
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