Installation manual

Chapter 8 PA Library
8-15
ｐａ＿ｅｘｅ＿ｅｓｃ
Function
Controls each axis to “escape” position.
Syntax
long pa_exe_esc(ARM armno, long func)
armno Arm number (No.)
func Designation whether to wait or not until motion is completed.
Explanation
Moves to the “escape” position setting in parameter.
Escape position default angles are:
Ｓ２ ： ４５[deg]
Ｅ１ ： ９０[deg]
Ｗ１ ： ４５[deg]
Others： ０[deg]
Escape position default angle correction method can be referred to parameter
setting or “pa_set_esc.”
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_esc Alters escape position.
pa_def_esc Replaces escape position with current value.
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