Installation manual

Chapter 8 PA Library
8-112
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Function:
Acquires redundant axis control mode in RMRC control.
Syntax:
ｌong pa_get_jou(ARM armno, long* stat);
armno Arm number (No.)．
stat Redundant axis control status
Explanation:
“stat” is set by “JOUMODE” as follows:
stat=JM_OFF ：Redundant control is OFF status.
stat=JM_ON ：Redundant control is all axes restriction control mode status.
stat=JM_S3ON ：Redundant control is S3 axis restriction control mode status.
stat=JM_S3DIV ：Redundant control is S3 axis interpolation control mode status.
stat=JM_S3HOLD：Redundant control is S3 axis fixation control mode status.
Return value:
ERR_OK Normal termination
Others: Anomalous termination (Refer to error table)
Reference:
pa_mod_jou Redundant axis control mode setting.
7-axis arm functio
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