Installation manual

Chapter 8 PA Library

8-94

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Function:

Alters home position

Syntax:

ｌong pa_set_hom(ARM armno, ANGLEP angle);

armno Arm number (No.)

angle Designates each axis angle. Unit: [rad]

Explanation:

Alters home position set in arm parameter.

Returns to default value when power supply is off.

Home position default angle is 0[deg] for all axes.

For home position default angle correction method, refer to parameter setting.)

Return value:

ERR_OK Normal termination

Others: Anomalous termination (Refer to error table)

Reference:

pa_def_hom Defines current value as home position

pa_exe_hom Arm control to home position

Description example:

ANGLE angle;

angle.s1 = 1.3;

angle.s2 = 1.5;

angle.w2 = 0.0;

pa_set_hom(ARM1, &angle);