Installation manual

Chapter 8 PA Library
8-125
ｐａ＿ｇｅｔ＿ｐｒｍ
Function:
Acquires parameter information from arm information.
Syntax:
long pa_get_prm(ARM armno, PARAMP prm);
armno Arm number (No.)
prm Current parameter information
Explanation:
Acquires parameter information from current arm information.
prm.rezl; Resolver resolution
prm.pul[7]; Position limiter（＋）
prm.pdl[7]; Position limiter（－）
prm.vel[7 + 2]; Velocity limiter
prm.dev[7 + 2]; Default velocity
prm.lim[7 + 2];
prm.ceh[7 + 2];
prm.cem[7 + 2];
prm.cel[7 + 2];
prm.pg1[7]; Position control gain 1
prm.pg2[7]; Position control gain 2
prm.vg1[7]; Velocity control gain
prm.tg1[7]; （Not available）
prm.pcm[7]; Position control selection matrix
prm.fcm[7]; （Not available）
prm.arl[7]; Arm length
prm.arg[7]; Axis gravity center position
prm.arw[7]; Axis weight
prm.hom[7]; Home position recovery target value
prm.saf[7]; Other point recovery target value
prm.esc[7]; Escape point recovery target value
prm.tol[7]; Tool parameter
prm.fvl[7];
prm.dmy[7]; （Not available）
prm.spa[7]; Spare
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
pa_get_ypr