Installation manual

Chapter 8 PA Library
8-164
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Function:
Writing completion/interruption occurrence
Syntax:
long pa_req_sub(ARM armno, long num);
armno Arm number (No.)
num Retry times
Explanation:
The controller recognizes completion of writing data to PCI shared area by
“writing completion interruption”.
Interruption retry is performed at certain times designated by “num”.
When command is issued employing “pa_req_ctl”, the same as “pa_fsh_sub”, this
function is employed to issue simultaneously another command.
This function is employed when issuing following PA libraries. But, this function is
not performed alone.
pa_odr_xyz：Tip position offset setting
pa_swt_dio：Teach point DO data valid/invalid setting
pa_set_inc：Real-time velocity setting
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_req_ctl
pa_fsh_sub