Installation manual

Chapter 8 PA Library
8-97
ｐａ＿ｄｅｆ＿ｈｏｍ
Function:
Memorizes each axis angle of current value as home position.
Syntax:
ｌong pa_def_hom(ARM armno);
armno Arm number (No.)
Explanation:
Memorizes each axis angle of current value as home position.
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_set_hom Home position alteration
pa_exe_hom Arm control to escape position
Description example:
:
pa_def_hom(ARM1); ... Defines current value as home position.
:
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e