Installation manual

Chapter 8 PA Library
8-95
ｐａ＿ｓｅｔ＿ｅｓｃ
Function:
Alters escape position.
Syntax:
ｌong pa_set_esc(ARM armno, ANGLEP angle);
armno Arm number (No.)
angle Designates each axis angle. Unit: [rad]
Explanation:
Alters escape position set in arm parameter.
Returns to default value when power supply is off.
Escape position default angles are:
S2: 45 [deg]
E1: 90 [deg]
W1: 45 [deg]
Others: 0[deg]
For escape 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_esc Defines current value as escape position
pa_exe_esc Arm control to escape position
R
R
e
e
f
f
e
e
r
r
e
e
n
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c
c
e
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