Installation manual

Chapter 8 PA Library
8-128
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Function:
Acquires each axis servo ON/OFF status.
Syntax:
long pa_get_sav(ARM armno, long* sav);
armno Arm number (No.)
sav Servo status
Explanation:
Acquires each axis servo status.
When S1 servo is ON sav=0x01
When S2 servo is ON sav=0x02
When S3 servo is ON sav=0x04
When E1 servo is ON sav=0x08
When E2 servo is ON sav=0x10
When W1 servo is ON sav=0x20
When W2 servo is ON sav=0x40
All axes servo ON sav=0x7F
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)