Installation manual

Chapter 6 Programming
6-56
Example: for Visual C++
：
pa_set_tim(ARM0, 20);
Time-out setting（200msec）
pa_mod_dir(ARM0, DM_START);
Direct control mode selection
pa_wet_ded(ARM0, LOCKAXIS_S3);
Control axis selection
：
(The arm, except S3-axis, is operated with a self weight compensated control.
The arm is manually operated. Acquires PTP data.
In the meantime, “pa_chk_cnt” has to be issued less than every 200msec.
：
pa_mod_dir(ARM0, DM_STOP); terminates the direct control.
Example: for Visual C++
Dim ret As Long
ret = pa_set_tim(ARM0, 20)
ret = pa_mod_dir(ARM0, DM_START)
ret = pa_wet_ded(ARM0, LOCKAXIS_S3)
：
：
ret = pa_mod_dir(ARM0, DM_STOP)