Installation manual

Chapter 8 PA Library
8-105
ｐａ＿ｇｅｔ＿ｍａｔ
Function:
Acquires coordinate conversion matrix when in playback.
Syntax:
ｌong pa_get_mat(ARM armno, MATRIX mat0, MATRIX mat1);
armno Arm number (No.)
mat0 Work coordinate matrix
mat1 Teach data coordinate matrix
Explanation:
Acquires teach data coordinate matrix and work coordinate matrix currently set
by “pa_set_mat” or “pa_set_mtx”.
As work coordinate matrix is the only one set by “pa_set_mtx”, “mat1” ought to
be a unit matrix.
MATRIX mat0, mat1:
ｎx ｏx ａx ｐx
ｎy ｏy ａy ｐy Matrix mat0[3][4], mat1[3][4]
ｎz ｏz ａz ｐz
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_set_mat Playback trajectory coordinate conversion
pa_set_mtx Conversion matrix setting in three dimension space coordinate
when in playback control