Installation manual

Chapter 8 PA Library
8-124
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Function:
Acquires tip orientation information from arm information.
Syntax:
long pa_get_ypr(ARM armno, VECTOR ypr);
armno Arm number (No.)
ypr Current tip orientation information [rad]
Explanation:
Acquires tip orientation information from current arm information.
ypr[0]：Arm tip orientation “yaw” value
ypr[1]：Arm tip orientation “pitch” value
ypr[2]：Arm tip orientation “roll” 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