Installation manual

Chapter 8 PA Library
8-122
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Function:
Acquires tip position information from arm information.
Syntax:
long pa_get_xyz(ARM armno, VECTOR vec);
armno Arm number (No.)
vec Current tip position information [mm]
Explanation:
Acquires tip position information from arm information.
vec[0]：Arm tip X coordinate value
vec[1]：Arm tip Y coordinate value
vec[2]：Arm tip Z coordinate 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_noa
pa_get_ypr