Installation manual

Chapter 8 PA Library
8-96
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Function:
Alters safety position.
Syntax:
ｌong pa_set_saf(ARM armno, ANGLEP angle)
armno Arm number (No.)
angle Designates each axis angle. Unit: [rad]
Explanation:
Alters safety position set in arm parameter.
Returns to default value when power supply is off.
Safety position default angles are:
S2: 45 [deg]
E1: 90 [deg]
W1: -45 [deg]
Others: 0[deg]
For safety 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_saf Defines current value as safety position.
pa_exe_saf Arm control to safety position
R
R
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f
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