Installation manual

Chapter 6 Programming
6-59
Example: for Visual C++
ANGLE an;
pa_set_tim(ARM0, 20);
Time-out setting（200msec）
pa_get_agl(ARM0,&an); Current angle acquisition
pa_odr_axs(ARM0, &an); Target initial axis angle setting
pa_mod_axs(ARM0); Axis real-time control mode selection
：
From here to “pa_sus_arm,” “pa_odr_axs” or “pa_chk_cnt” has to be issued within
200 msec. cycle.
：
while (Conditional text){
：
an.s1 = ...
an.s2 = ...
an.s3 = ... Creates a target axis angle here.
an.e1 = ...
an.e2 = ...
an.w1 = ...
an.w2 = ...
pa_odr_axs(ARM0, &an); Target axis angle setting
}
pa_sus_arm(ARM0, WM_WAIT); Axis angle real-time control mode termination
Example: for Visual BASIC
Dim ret As Long
Dim an As ANGLE
ret = pa_set_tim(ARM0, 20)
ret = pa_get_agl(ARM0, an) Current angle acquisition
ret = pa_odr_axs(ARM0, an) Target initial axis angle setting
ret = pa_mod_axs(ARM0)
：
Do While Conditional text
：
an.s1 = ...
an.s2 = ...
an.s3 = ...
an.e1 = ...
an.e2 = ...
an.w1 = ...
an.w2 = ...
ret = pa_odr_axs(ARM0, an)
Loop
ret = pa_sus_arm(ARM0, WM_WAIT)