Installation manual

Chapter 6 Programming

6-3

６．２ Common Items

On the control programming using the PA library, there are some that must be

known and followed through.

（１）Synchronization between controllers

One command is issued for one PA library from the operation control section to

the motion control section. The motion control section performs the

motion/processing, responding to this command.

Synchronization between controllers is operated by the control counter. When the

motion/processing is completed, the count value of the control counter will be

increased one counter value.

During processing, if any error occurs, it stops processing, adds one counter value,

then, returns an error code.

If the return value (error code) of the library shows “ERROR-OK.” It means the

control is normally terminated.

（２）Minimum required programming procedures

If controlling the motion control section using the PA library, the following

descriptions are needed:

①PA Library Initialization ：pa_ini_sys

Declaration to use the PA library.

②Open Arm (Control Arm Selection) ：pa_opn_arm

Plural motion control sections (arm) can be controlled by one operation control

section. The control arm and the number of the arm (ARMO ~ ARM15) have to be

designated by the motion control section.

For the arm number setting, refer to the section 4.3 – the operation & motion

control interface.

③Control Start (Motion Control Section) ： pa_sta_arm or pa_sta_sim

If issuing the “pa_sta_arm” library, the communication with the servo driver will be

started. If issuing the “pa_sim_arm” library, the simulation mode starts. In this

mode, regarding all commands issued from hereafter, the motion and the program

can be confirmed without operating any actual machine.

④Control Stop (Motion Control Section) ： pa_ext_arm or pa_ext_sim

If issuing the “pa_ext_arm” library, the communication with the servo driver will be

terminated. If issuing the “pa_ext_arm” library, the simulation mode will be

terminated.

⑤Close the arm ： pa_cls_arm

Separates the selected arm from the motion control section.

⑥PA library Exit ： pa_ter_sys