Installation manual

Chapter 8 PA Library
8-99
ｐａ＿ｄｅｆ＿ｓａｆ
Function:
Memorizes each axis angle of current value as safety position.
Syntax:
ｌong pa_def_saf(ARM armno)
armno Arm number (No.)
Explanation:
Memorizes each axis angle of current value as safety position.
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_set_saf Safety position alteration
pa_exe_saf Arm control to safety position
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e