Installation manual

Chapter 8 PA Library
8-116
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Function:
Acquires current arm communication status.
Syntax:
long pa_get_com(ARM armno, long* stat);
armno Arm number (No.)
stat Current arm communication status.
Explanation:
Acquires communication status between the controller while in arm
control and the servo driver (not communicating / while in communication and
actual machine control / while in communication and simulation control.)
Macro definition employed by “stat” is as follows:
STP_STATUS 0 Status not in communication
MOV_STATUS 1 while in communication and actual machine control
SIM_STATUS 2 while in communication with inner servo driver of
motion control section and in simulation mode control
Before issuing PA library function loading current arm information, when this
definition is used to confirm whether or not the controller is communicating now, if
it is communicating, it is clearly seen that current information can be loaded by
issuing the library. If not communicating, current information cannot be loaded by
even issuing PA library.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Description example:
long jou;
long stat;
:
While in RMRC control
:
pa_get_com(ARM1, &stat); ･･･ Acquires communication status
if(!stat){ If not in communication
pa_sta_arm(ARM0); ･･･ Starts communication.
}
pa_get_jou(ARM0, &jou);･･･Loading current redundant axis control mode.
: