Installation manual

Chapter 6 Programming
6-10
Example: for Visual BASIC
Dim agl As ANGLE
Dim ret As Long
Dim axs As Long
ret = pa_exe_esc( ARM0, WM_NOWAIT ) to the default escape orientation.
agl.s1 = 1.57
agl.s2 = 1.57
agl.e1 = 1.57
:
agl.w2 = 1.57
ret = pa_set_esc( ARM0, agl ) escape orientation alteration
ret = pa_exe_esc( ARM0, WM_NOWAIT ) all axes to 90[deg]
:
agl.s1 = 0.785
agl.s2 = 0.785
axs = S1 Or S2
ret = pa_exe_axs( ARM0, axs, agl ,WM_NOWAIT)
:
ret = pa_def_esc( ARM0 ) loading as escape orientation
It would be useful to register angles often used following operation purposes.
(*1) The arm parameter is the file setting data needed for a control, located in the
motion control section.
For further information, refer to “parameter setting” in the section 6.13.
The contents can be seen with the command – pa_get_prm – from the operation
control section. They cannot be directly changed in the program.
But, the operation support program (parameter setting) for alteration is provided.
For the alteration method, refer to the operation support program (parameter
setting) instruction.
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