Installation manual

Chapter 8 PA Library
8-101
ｐａ＿ｓｅｔ＿ｍａｔ
Function:
Playback trajectory coordinate conversion
Syntax:
ｌong pa_set_mat(ARM armno, MATRIX mat0, MATRIX mat1);
armno Arm number (No.)
mat0 Work coordinate matrix
mat1 Teach data coordinate matrix
Explanation:
Places playback teach data from teach data coordinate to work coordinate
system.
Creating standard coordinate matrix (:mat1) from teach data, provides work
coordinate matrix (:mat0) to place deviation in its coordinate system.
For work coordinate matrix/teach coordinate matrix creation method, refer to
programming manual, chapter 3.
“pa_set_mtx” is unit matrix [I] created from one of this function: “mat1”.
This function cannot be performed while in playback control.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_set_mtx
Description example:
MATRIX mat0,mat1;
:
（Work coordinate matrix creation：mat0）
（Teach data coordinate matrix creation：mat1）
:
pa_set_mat(ARM0,mat0,mat1); ... Sets coordinate conversion matrix
:
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