Installation manual

Chapter 8 PA Library
8-121
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Function:
Acquires axis information from arm information.
Syntax:
long pa_get_agl(ARM armno, ANGLEP angle);
armno Arm number (No.)
angle Current axis value information [rad]
Explanation:
Acquires axis information from arm information.
angle.s1：Current S1 axis value
angle.s2：Current S2 axis value
angle.s3：Current S3 axis value
angle.e1：Current E1 axis value
angle.e2：Current E2 axis value
angle.w1：Current W1 axis value
angle.w2：Current W2 axis value
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_sts
pa_get_cnt
pa_get_err
pa_get_xyz
pa_get_noa