Hofs Method
Description
Reads or sets the offset pulses used for software zero point correction.
Syntax
Function Hofs (JointNumber As Integer) As Integer
Sub Hofs (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
The offset pulse value (integer value, in pulses).
Remarks
This method displays or sets the home position offset pulses. This method specifies the offset from the encoder 0 point (Z phase) to the mechanical 0 point.)
Although the robot motion control is based on the zero point of the encoder mounted on each joint motor, the encoder zero point may not necessarily match the robot mechanical zero point. To make the encoder position that matches the robot mechanical zero point as the zero point on the software, set the correction pulse amount by this method.
Note
Hofs Values SHOULD NOT be Changed unless Absolutely Necessary
The Hofs values are correctly specified prior to delivery. There is a danger that unnecessarily changing the Hofs value may result in position errors and unpredictable motion. Therefore, it is strongly recommended that Hofs values not be changed unless absolutely necessary.
To Automatically Calculate Hofs Values
To have Hofs values automatically calculated, move the arm to the desired calibration position, and execute Calib. The controller then automatically calculates Hofs values based on the CalPls pulse values and calibration position pulse values.
Saving and Restoring Hofs
Hofs can be saved and restored using the Save and Load commands in the [System Configuration] dialog-[Robot]-[Calibration] from the System Configuration menu.
See Also
CalPls Method, Home Method, Hordr Method, MCal Method
Hofs Example
VB Example:
Dim val As Integer
val = m_spel.Hofs(1)
C# Example:
int val;
val = m_spel.Hofs(1);