Installation manual

Chapter 8 PA Library
8-93
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Function:
Arm installation position acquisition in direct control (floor mounted/suspending
from ceiling)
Syntax:
ｌong pa_get_drt(ARM armno, long* stat);
armno Arm number (No.)
stat Arm installation position parameter
Explanation:
Before performing weight compensation control, acquire arm status either
mounted on the floor or suspended from the ceiling.
Parameter（stat） is 1: floor mounted
Parameter（stat） is –1: suspending from ceiling
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_drt_ded Arm installation direction setting in direct control