Installation manual

Chapter 8 PA Library
8-22
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Description example
:
MATRIX mat;
ANGLE an;
mat[0][0] = 0.0;
:
mat[2][3]= 850.0;
an.s1 = 0.0;
an.s2 = 0.0;
an.s3 = 60.0/180.0*M_PI; ..60[deg]
:
an.w2 = 0.0;
pa_mov_mat(ARM1, MM_XYZNOA, mat, &an, WM_WAIT);
:
Moves with RMRC interpolation from the current point to the tip
position/orientation indicated by “mat”.