Installation manual

Chapter 8 PA Library
8-127
ｐａ＿ｇｅｔ＿ｔａｒ
Function:
Acquires target angle and target tip position/orientation matrix information.
Syntax:
long pa_get_tar(ARM armno, ARMTARGETP tar);
armno Arm number (No.)
tar Target angle and tip position/orientation information
Explanation:
Acquires arm target value information.
ARMTARGET type consists of data structures below:
typedef struct {
ANGLE angle;
MATRIX noap;
float ypr[3];
} ARMTARGET, *ARMTARGETP;
For “angle”, each target axis angle every control cycle in axis control is included.
For “noap”, target tip position/orientation every control cycle in RMRC control is
included.
ｎx ｏx ａx ｐx
noap[3][4] = ｎy ｏy ａy ｐy
ｎz ｏz ａz ｐz
For “ypr”, Yaw, Pitch and Roll value calculated from tip orientation: “noa” are
included
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_agl
pa_get_noa
pa_get_xyz
pa_get_ypr