Installation manual

Chapter 8 PA Library
8-104
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Function:
Sets limit value (value added every cycle) when in tip position offset addition
Syntax:
ｌong pa_lmt_xyz(ARM armno, float data);
armno Arm number (No.)
data Limit value when in offset addition. Unit: [mm]
Explanation:
In offset control, when tip position offset is provided by “pa_odr_xyz”, offset value
first enters the offset pool. This offset value is added with very small fixed
quantity every cycle until offset value fills out the pool in several cycles,
Sets a very small fixed quantity every cycle (here is called limit value.)
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_lmt Tip position offset limit value acquisition