Installation manual

Appendix ２
Appendix2-1
Appendix 2
PA Library Return Value (Error Code)
“Previous error code remaining.”
After issuing PA library from the operation control section, when the processing is completed,
error code written on ISA (or VME) shared memory at this moment is defined as library return
value.
If anomaly occurs during processing in the motion control section, error code fitting to its
anomaly becomes return value. If processing is terminated normally, error code fitting to previous
error code becomes return value. Because error information on ISA (VME) shared memory is
overwritten only when anomaly occurs during processing in the motion control section.
For PA library (refer to appendix 1) not acquired synchronization between controllers, if it is
issued from the operation control section, information on ISA (VME) shared memory is loaded.
When loading finishes, error code on ISA (VME) shared memory becomes return value. This error
code has no connection with PA library processing not acquired synchronization, issued this time.
Library acquired synchronization and its error occurred during previous processing are culprits.
Taking into account the above, use PA library return value (error code) practically.
Here, below, explains how to deal with error codes.
① Every time PA library synchronized is issued, check errors. When error occurs, perform
brake-stop, etc.
if((err = pa_mov_xyz(arm, 0.0,200.0,0.0,WM_WAIT)) != ERR_OK) Brake-stop.;
② Employing function “pa_rst_ctl” for resetting an error, reset (error code: 0) previous error
code.
③ When issuing function not synchronized, do not obtain return value.