Installation manual

Chapter 5 Program Development & Processing Conditions
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５．３ PA library Directory Composition
The PA library is provided by the CD-ROM.
When the CD-ROM is set, installation starts automatically. (For further information,
refer to the installation manual.)
The PA library compositions provided in PA are as follows:
\ WinPApci (Default name of installation destination)
BIN ••• Execution file
Passage.exe
Wprm.exe
INCLUDE ･･･ Header file of PA library
PA.H PA library prototype declaration (for development employing Visual C++)
PAERR.H PA library error information declaration (for development employing Visual C++)
PACMD.H
PACTL.H File needed for PA library construction
PAMMC.H
PA.BAS
PAERR.BAS for development with Visual BACIS
HELP ･･･ Online help file
PAHELP.HLP
SRC LIB ･･･ PA library source file
PA_CUB.C CUBE information
PA_DIO.C Digital I/O
PA_DIR.C Direct control mode
PA_DPD.C Real-time T-matrix control
PA_EGT.C
Relatedto additional functions (information acquisition)
PA_ETC.C
VMEinterface connected to the motion control section
PA_EXT.C Related to additional functions (control)
PA_GET.C Arm information acquisition
PA_JMP.C JUMP data
PA_JOU.C Redundant axis/velocity control
PA_MOD.C Related to teach mode
PA_MOV.C initial setting/each axis control/RMRC
PA_MTX.C Coordinate conversion matrix setting
PA_PNT.C Teach/playback control
PA_PRM.C Parameter alteration
PA_PRV.C Related to parameter loading/saving
PA_SET.C Basic orientation registration
PA_VEL.C Velocity mode selection
PCI ･･･ PA library (for PCI) project file
PA_PCI.C related to PCI-bus access
PCI.DEF Default definition file
PCI.DSW Project work space
PCI.DSP project file
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