Installation manual

Chapter 6 Programming
6-66
Example: for Visual BASIC
Dim mat(3,2) As Single
Dim an As ANGLE
Dim ret As Long
ret = pa_set_tim(ARM0, 20)
ret = pa_exe_saf(ARM0, WM_WAIT)
ret = pa_get_noa(ARM0, mat(0,0))
ret = pa_get_agl(ARM0, an)
ret = pa_odr_dpd(ARM0, mat(0,0), an) Target position/orientation initialization
：
ret = pa_mod_jou(ARM0, JM_ON)
ret = pa_mod_dpd(ARM0)
：
Do While Conditional sentence
：
ret = pa_odr_dpd(ARM0, mat(0,0), an)
Loop
ret = pa_sus_arm(ARM0, WM_WAIT)