Installation manual

Chapter 8 PA Library
8-100
ｐａ＿ｓｅｔ＿ｍｔｘ
Function:
Conversion matrix setting in three dimension space coordinate while in playback
control
Syntax:
ｌong pa_set_mtx(ARM armno, MATRIX mat1)
armno Arm number (No.)
mat1 Coordinate conversion matrix
Explanation:
Sets coordinate conversion matrix “mat1” for the arm designated by “armno”.
Arm trajectory control is corrected by conversion matrix in playback control.
Coordinate conversion matrix default value is unit matrix I.
1 0 0 0
Ｉ = 0 1 0 0
0 0 1 0
For more, refer to programming manual, chapter 3.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Description example:
:
MATRIX mat1;
:
pa_set_mtx(ARM1, mat1); ... Sets coordinate conversion matrix.
:
R
R
e
e
f
f
e
e
r
r
e
e
n
n
c
c
e
e