Installation manual

Chapter 8 PA Library
8-89
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Function:
Sets arm installation position. (floor mounted/suspending from ceiling)
Syntax:
ｌong pa_drt_ded(ARM armno, long vec);
armno Arm number (No.)
vec Arm installation position designation
Explanation:
Before performing weight compensation control, designate the arm status either
floor mounted or suspending from ceiling. On account of arm being already
initialized as floor mounted status, only when the arm is suspended from the ceiling,
this library has to be performed.
Macro definition employed in “vec” as follows:
Macro definitions Designation
ARM_STANDING Floor mounted status
ARM_HANGING Status suspended from ceiling
Arm installation positions when in weight compensation control are only two macro
definitions as described above. Other definitions cannot be employed.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_wet_ded Direct control status ON/OFF
pa_get_drt Direct control installation position acquisition