Installation manual

Chapter 8 PA Library
8-123
ｐａ＿ｇｅｔ＿ｎｏａ
Function:
Acquires tip position/orientation matrix information from arm information.
Syntax:
long pa_get_noa(ARM armno, MATRIX noap);
armno Arm number (No.)
noap Current tip position/orientation information
Explanation:
Acquires tip position/orientation matrix information from current arm information.
ｎx ｏx ａx ｐx
noap[3][4] = ｎy ｏy ａy ｐy
ｎz ｏz ａz ｐz
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_ypr