Installation manual

Chapter 8 PA Library
8-113
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Function:
Acquires motion control calculator status.
Syntax:
long pa_get_mod(ARM armno, long* stat);
armno Arm number (No.)
stat Current motion control calculator status
Explanation:
Acquires motion control calculator status.
Motion control calculator status is as follows:
１ ： Not available
２ ： Not available
３ ： Brake-stop status
４ ： Not available
５ ： Not available
６ ： Not available
７ ： Not available
８ ： Each axis angle control status
９ ： Each axis velocity control status
１０： Direct servo-lock status
１１： Simplified weight compensation status
１２： Weight compensation status
１３： RMRC control status
１４： RMRC redundant axis control status
１５： Each axis control servo-lock status
１６： Not available
１７： Each axis angle correction status
１８： Circle interpolation playback status
１９： Linear interpolation playback status
２０： Arc interpolation playback status
２１： RMRC control servo-lock status
２２： Playback start waiting status (each axis control)
２３： Each axis control servo-lock status (while in playback)
２４： RMRC control servo-lock status (while in playback)
２５： Playback start waiting status (RMRC control)
２６： Playback tip position shifting status
２７： Redundant axis movable status
２８： RMRC real-time status
２９： Playback axis interpolation angle correction status
３０： Interim status shifting to the point after coordinate conversion
３１： Redundant axis movable status (S3 axis interpolation)
３２： Each axis real-time control mode status
３３： Motion between teach data (RMRC control)
３４： Motion between teach data (each axis control)