Installation manual

Chapter 7 Library Reference
7-
20
PA library data structure (for Windows Visual BASIC)
・Parameter Structure:
Type PARAM
rezl As Single Resolver resolution
pul(6) As Long Position limiter (+)
pdl(6) As Long Position limiter (-)
vel(8) As Long Velocity limiter
dev(8) As Long Default velocity
lim(8) As Single Teach mode velocity limit
ceh(8) As Single Teach mode fast motion velocity
cem(8) As Single Teach mode medium motion velocity
cel(8) As Single Teach mode slow motion velocity
pg1(6) As Long Position control gain1
pg2(6) As Long Position control gain2
vg1(6) As Long Velocity control gain
tg1(6) As Long Force control gain
pcm(6) As Long position control selection matrix
fcm(6) As Long Force control selection matrix
arl(6) As Long Arm length
arg(6) As Long Axis gravity center position
arw(6) As Long Axis weight
rfp(6) As Long Home position recovery target value
rsp(6) As Long Escape position recovery target value
rop(6) As Long Recovery target value for other points
tol(6) As Long Tool parameter
fvl(6) As Single Control parameter
dmy(6) As Long Not available
spa(6) As Long Spare
End Type