Installation manual

Chapter 8 PA Library
8-149
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Function:
Sets tool information.
Syntax:
long pa_set_tol(ARM armno, float x, float y, float z, float off);
armno Arm number (No.)
x Offset value toward “x” from arm tip to tool tip [mm]
y Offset value toward “y” from arm tip to tool tip [mm]
z Offset value toward “z” from arm tip to tool tip [mm]
off Offset value toward “z” from tool tip to work face [mm]
Explanation:
Sets tool information (offset value from arm tip to tool tip) of controller parameter
file.
All tool information default values are 0 [mm].
This value cannot be set during RMRC control.
This value is vanishing when power supply is off.
If intending to change parameter file default value, use parameter setting.
As this offset is added for arm mechanical interface coordinate system, added
points are kept even if in orientation rotation. Only tip direction changes.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_get_prm
pa_set_vel
Description example:
:
pa_set_tol(ARM1, 100.0, 50.0, 300.0, 40.0 );
: