Installation manual

Chapter 8 PA Library
8-56
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Function
Teach mode setting
Syntax
long pa_ply_mod(ARM armno, long mod);
armno Arm number (No.)．
mod 0： Teach mode released
1： Low
2： Medium
3： High
Explanation
Sets teach mode.
Macro definitions employed in “mod” are as follows:
Macro definition：
TEACH_OFF Teach mode released
TEACH_LOW Teach mode：Low
TEACH_MID Teach mode：Medium
TEACH_HIGH Teach mode：High
Return value
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference
pa_get_pmd Teach mode acquisition
Description example:
:
pa_ply_mod(ARM0,TEACH_LOW); .... Teach mode ON（low velocity）
: