Installation manual

Chapter 6 Programming
6-5
（３）Processing during a library performance
Explaining processing methods while a library describing motion is performing.
func = WM_WAIT ：Wait until the arm motion is terminated.
= WM_NOWAIT：No wait until the arm motion is terminated.
func = WM_WAIT
： Wait until the arm motion is terminated
＜Library Processing Contents＞
・Issues command to the motion control section.
・Observes the motion termination.
・If any error occurs, terminates processing. An error number is shown as a
return value.
Example: for Visual C++
if( pa_exe_hom(ARM0, WM_NOWAIT) != ERR_OK )
Error termination
else
Normal termination
Example: for Visual BASIC
Dim ret As Long
ret = pa_exe_hom(ARM0, WM_NOWAIT)
If ret <> ERR_OK Then
Error termination
Else
Normal termination
End If