Installation manual

Chapter 8 PA Library
8-102
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Function:
Sets tip position offset.
Syntax:
ｌong pa_odr_xyz(ARM armno, TRANSMATP trans);
armno Arm number (No.)
trans Designates either coordinate system with absolute deviation or with
relative deviation. Pointer to trajectory offset data structure:
TRANSMAT.
Explanation:
Sets tip position offset with mode and coordinate designated by “trans->Enable”.
Coordinates and modes of “trans->Enable” are as follows:
MODE_xyz : Mechanical interface coordinate, absolute deviation
Offset is set as trans->_xyz[0]-[2].
（for Visual BASIC: MODE_XYZ1）
MODEIxyz : Mechanical interface coordinate, relative deviation
Offset is set as trans->Ixyz[0]-[2].
（for Visual BASIC: MODE_XYZ2）
MODE_XYZ : Base coordinate, absolute deviation
Offset is set as trans->_XYZ[0]-[2].
（for Visual BASIC: MODE_XYZ3）
MODEIXYZ : Base coordinate, relative deviation
Offset is set as trans->IXYZ[0]-[2].
（for Visual BASIC: MODE_XYZ4）
MODE_wave: Trajectory coordinate, absolute deviation
Offset is set as trans->_wave[0]-[2].
（for Visual BASIC: MODE_WAVE1）
MODEIwave: Trajectory coordinate, relative deviation
Offset is set as trans->Iwave[0]-[2].
（for Visual BASIC: MODE_WAVE2）
With this function, offset value can be changed in real-time during playback
control. This makes it possible to detect playback trajectory deviation with sensor,
etc. and correct it.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error charts)
Reference:
pa_get_sns Trajectory offset acquisition during playback control