Installation manual

Chapter 8 PA Library
8-16
pa_exe_saf
Function
Controls each axis to “safety position.”
Syntax
long pa_exe_saf(ARM armno, long func)
armno Arm number (No.)
func Designation whether to wait or not until motion is completed.
Explanation
Moves to “safety” position setting in parameter.
Safety position default angles are:
[deg]
[deg]
[deg]
Others[deg]
Escape position default angle correction method can be referred to parameter
setting or “pa_set_saf.”
This function creates motion by “func” as follows:
・Designates WM_WAIT :does not return unless motion is completed.
Designates WM_NOWAITreturns without confirming motion completion.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_set_saf Alters safety position.
pa_def_saf Replaces safety position with current value.
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