Installation manual

Chapter 8 PA Library

8-14

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Function

Controls each axis to home position.

Syntax

long pa_exe_hom(ARM armno, long func)

armno Arm number (No.)

func Designation whether to wait or not until motion is completed.

Explanation

Moves to the home position setting in the arm parameter.

Home position default angle for all axes is 0 [deg].

Home position default angle correction method can be referred to parameter setting

manual or “pa_set_hom.”

This function creates motion by “func” as follows:

・Designates WM_WAIT ：does not return unless motion is completed.

・Designates WM_NOWAIT：returns without confirming motion completion.

Return value

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference

pa_set_hom Alters home position.

pa_def_hom Replaces home position with current value.