ArmSet Method

Description
Defines an auxiliary robot arm.

Syntax
Sub ArmSet ( ArmNumber As Integer, Param1 As Single, Param2 As Single, Param3 As Single, Param4 As Single, Param5 As Single )

Parameters

ArmNumber
Integer (valid range: 1 to 15)
Param1
(For SCARA Robots) The horizontal distance from the center line of the elbow joint to the center line of the new orientation axis (i.e. the position where the center line of the new auxiliary arm orientation axis is located). (For Cartesian Robots) The positional offset in the X-axis direction (units: mm).
Param2
(For SCARA Robots) The offset (in degrees) between the line subtended between the standard elbow joint center line and the center of the orientation axis and the line subtended between the new auxiliary arm elbow joint center line and the center of the orientation axis. (These 2 lines should intersect at the elbow center line and the angle formed is the Param2.) (For Cartesian Robots) Y axis direction position offset from the original Y position specified in mm.
Param3
(For SCARA & Cartesian Robots) The Z height offset difference between the new orientation axis center line and the old orientation axis center line.
Param4
(For SCARA Robots) The distance from the shoulder center line to the elbow center line of the new auxiliary arm. (For Cartesian Robots) This is a dummy parameter (Specify 0).
Param5
(For SCARA & Cartesian Robots) The angular offset (in degrees) between the new arm orientation axis and the old arm orientation axis.

Remarks
If an error occurs and the ErrorNumber property of the SpelException is 3101, see the remarks in the SetPoint method.

ArmSet Example
VB Example:

Sub SetArms()  
    With m_spel  
        .ArmSet(1, 1.5, 0, 0, 0, 0)  
        .ArmSet(2, 3.2, 0, 0, 0, 0)  
    End With  
End Sub

C# Example:

void SetArms()  
{  
    m_spel.ArmSet(1, 1.5, 0, 0, 0, 0);  
    m_spel.ArmSet(2, 3.2, 0, 0, 0, 0);  
}