CalPls Method

Description
Reads or sets the position and orientation pulse values for calibration.

Syntax
Function CalPls (JointNumber As Integer) As Integer
Sub CalPls (J1Pulses As Integer, J2Pulses As Integer, J3Pulses As Integer, J4Pulses As Integer, [J5Pulses As Integer], [J6Pulses As Integer], [J7Pulses As Integer], [J8Pulses As Integer], [J9Pulses As Integer])

Parameters

• J1Pulses - J9Pulses
  Integers indicating the pulse values for Joints 1 to 9. J5Pulses to J9Pulses are optional

Return Value
When parameters are omitted, displays the current CalPls values.

Remarks
Specifies and maintains the correct position pulse value(s) for calibration.

CalPls is intended to be used for maintenance, such as after changing motors or when motor zero position needs to be matched to the corresponding arm mechanical zero position. This matching of motor zero position to corresponding arm mechanical zero position is called calibration. Normally, the calibration position Pulse values match the CalPls pulse values.

However, after performing maintenance operations such as changing motors, these two sets of values no longer match, and therefore calibration becomes necessary.

Calibration may be accomplished by moving the arm to a certain calibration position and then executing Calib. By executing Calib, the calibration position pulse value is changed to the CalPls value (the correct pulse value for the calibration position.)

Hofs values must be determined to execute calibration. To have Hofs values automatically calculated, move the arm to the desired calibration position, and execute Calib. The controller automatically.

Note

---

CalPls Values Cannot be Changed by cycling power

CalPls values are not initialized by turning main power to the controller off and then on again. The only method to modify the CalPls values is to execute the Calib command.

See Also
Hofs Method

CalPls Example
VB Example:

Dim val As Single  
Dim i As Integer  
For i = 1 To 4  
val = m_spel.CalPls(i)  
Next i  

C# Example:

float val;  
for(int i = 1; i <= 4; i++)  
	val = m_spel.CalPls(i);