Installation manual

Chapter 8 PA Library
8-119
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Function:
Acquires control count from arm information.
Syntax:
long pa_get_cnt(ARM armno, long* cunt);
armno Arm number (No.)
cunt Control count information
Explanation:
Acquires control count information from current arm information.
When command processing is finished, the controller computes by adding the
count of the inner variable. With this function, comparing inner variable before and
after issuing command, users can recognize processing termination for command.
This inner variable is control count value.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_sts
pa_get_err
pa_get_agl
pa_get_xyz
pa_get_noa
pa_get_ypr