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4-106 DAS ACI Functions
601626-B
aci_robhome
The aci_robhome function sets the robot (accessor in Scalar
1000) in the AML to off-line and moves it to the home position.
See Figure 4-96.
Figure 4-96 aci_robhome Function Call
The call of this function sends the robot with number
‘szRobot’ to the home position. See Table 4-42.
Return Values
• 0: The call was successful
• -1: The call failed
The external variable d_errno is set to one of the following
DAS error codes
• ERPC
• EAMU
• EAMUCOMM
• EROBOTCOMM
• EDASINT
• ERETRYL
• ECANCELLED
• EDASINT
• ETIMEOUT
• ESWITCHINPROG
Table 4-42 Parameter for the aci_robhome Function Call
Parameter Description
szRobot the defined robot of a twin AML system
R1 Robot 1 of the AML (must also be used for
all single AML systems)
R2 Robot 2 of the twin AML
#include "aci.h"
int aci_robhome(char *szRobot)