Installation manual

Chapter 8 PA Library
8-23
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Function
Moves from the present point to the current point.
Syntax
long pa_axs_pnt(ARM armno, long func)
armno Arm number (No.)．
func Designation whether to wait or not until motion is completed.
Explanation
Moves the arm with axis interpolation from the present point to the current point.
＜Differences between pa_axs_pnt and pa_mov_pnt＞
・Whatever a current point data type is, “pa_axs_pnt” moves with axis control.
・For “pa_mov_pnt,” when the current point data type is PTP data, moves with linear
interpolation (RMRC) control. When type is CP data, moves with axis interpolation
(axis angle control.)
When the present and current point position/orientation are completely different, it
is advisable to use axis interpolation. From any position/orientation (home
orientation, etc.) it can reach the current point.
Explanation for “func” is the same as “pa_mov_pnt”.
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_mov_pnt Moves linearly to the current point.
Description example
:
pa_chg_pnt(ARM1, PM_TOP, 0); .. Moves teach point pointer to the top.
pa_axs_pnt(ARM1, WM_WAIT); .. Moves to the current (top) teach point with
axis interpolation.